System and method for connecting and adjusting the tension of mooring lines for floating wind turbines on the seabed.

Abstract

The present invention provides a system for connecting and tensioning mooring lines of a floating wind turbine to the seabed. The system includes a floating wind turbine with at least one mooring line adapted for mooring the floating wind turbine to the seabed. The installation vessel is equipped with a dynamic positioning (DP) system and a winch. The winch is adapted to control the mooring line / installation line. A tensioner is adapted for the mooring line / installation line. At least one of the winch and the dynamic positioning system on the installation vessel can be controlled based on at least one input parameter for connecting and tensioning the mooring line of at least one mooring line of the floating wind turbine to the seabed.

Description

Technical Field

[0001] The present invention relates to a technique for performing mooring cable connection and tension adjustment work of floating equipment using an installation vessel. The floating equipment may be a floating wind turbine (FWT).

Background Art

[0002] A floating wind turbine (FWT) is moored to the seabed by at least one mooring cable. The mooring cable is moored to the seabed in the mooring cable connection and tension adjustment process. In the oil and gas field, the standard method of performing mooring cable connection and tension adjustment for floating equipment by an installation vessel is to use a winch on the floating equipment to pull in a chain or wire to a predetermined length and pre-tension. A part of the mooring cable connection of recent floating offshore wind turbines (FWT) has been carried out using a tensioner for the last mooring cable to be connected. In this tension adjustment method, by pulling in an additional mooring cable segment via the tensioner, a tension level within the required tolerance can be ensured for the entire mooring system. In the current mooring cable connection and tension adjustment method, it may be necessary to place workers on the floating equipment in part of the installation process. Also, the method of tension adjustment during the installation of a floating offshore wind turbine (FWT) using a winch on a ship has limited functionality. Generally, an anchor handling vessel does not have a winch system sufficient to compensate for movement in a deteriorated sea state or a situation where a high tension acts on the mooring cable. As floating wind turbines shift from the demonstration / pilot project stage to large-scale development, there is a need in the industry to develop a new and improved method for performing mooring cable connection and tension adjustment by the mooring cables of floating wind turbines. There is a need for a cost-effective method that enables operation under more severe weather conditions (such as high waves, strong winds, etc.), extends the workable time, shortens the weather standby time, and improves the safety in the process of mooring cable connection and tension adjustment when installing mooring cables of floating equipment such as FWT to the seabed.

Summary of the Invention

[0003] This invention provides a system for connecting and adjusting the tension of mooring lines for floating wind turbines to the seabed. This system is • A floating wind turbine comprising at least one mooring cable adapted for mooring the floating wind turbine to the seabed, • A installation vessel including a dynamic positioning (DP) system and a winch, wherein the winch is adapted to control mooring lines / installation lines on the installation vessel. • Tensioner suitable for mooring lines / installation lines, The system is adapted to control at least one of a winch and a dynamic positioning system on the installation vessel based on at least one input parameter for mooring connection and tension adjustment of at least one mooring line of a floating wind turbine to the seabed.

[0004] The system may be adapted to control at least one of a winch and a dynamic positioning system on the installation vessel based on at least one of the position of the floating wind turbine and the position of the vessel.

[0005] The system may be adapted to compensate for relative movement between the floating wind turbine and the installation vessel during mooring rope connection and tension adjustment operations using at least one of the winches and dynamic positioning systems on the installation vessel. At least one of the winches and dynamic positioning systems on the installation vessel may be adapted to compensate for relative movement between the floating wind turbine and the installation vessel. The system may be configured to compensate for at least one of lateral, longitudinal, and rotational movement between the floating wind turbine and the installation vessel by controlling the winch or dynamic positioning system on the installation vessel during mooring rope connection and tension adjustment operations. The system may compensate for relative motion in six degrees of freedom.

[0006] The system may be adapted to control at least one winch and dynamic positioning system on the installation vessel to control at least one of the following: the length, tension, or winch speed of the installation line / mooring rope during mooring connection and mooring operations. The system may be configured to control the winch and dynamic positioning system during mooring connection and mooring operations based on tension sensor feedback and specified length parameters related to the installation line / mooring rope.

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

[0008] In a further embodiment, the present invention provides an installation vessel that performs mooring line connection and tension adjustment work for mooring at least one mooring line of a floating wind turbine to the seabed using a mooring line / installation line tensioner. The installation vessel includes a dynamic positioning (DP) system and a winch. The winch and at least one of the dynamic positioning system are adapted to control the installation line / mooring line of the floating wind turbine based on at least one input parameter relating to the mooring line connection and tension adjustment of at least one mooring line of the floating wind turbine to the seabed.

[0009] The installation vessel may be adapted to compensate for relative movement between the floating wind turbine and the installation vessel during mooring line connection and tension adjustment operations. The installation vessel may be adapted to control at least one of the winches and dynamic positioning systems on the installation vessel based on at least one of 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 the winches and dynamic positioning systems 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 movement between the floating wind turbine and the installation vessel by at least one of the winches or dynamic positioning systems on the installation vessel during mooring line connection and tension adjustment operations. The installation vessel may be configured to control at least one of the winches and dynamic positioning systems on the installation vessel to control at least one of the length, tension, or winch speed of the installation line / mooring rope during mooring line connection and mooring operations. The installation vessel may include at least one position sensor for measuring the installation vessel's position. The installation vessel may include at least one motion sensor for measuring the installation vessel's motion. 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 a further embodiment, the present invention provides a floating wind turbine. The floating wind turbine includes at least one mooring line adapted for mooring the floating wind turbine to the seabed, at least one sensor, and a wireless communication system adapted for transmitting sensor information to an installation vessel adapted for mooring line connection and tension adjustment of at least one mooring line 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 for transmitting sensor information to an installation vessel. The floating wind turbine may further include at least one inertial navigation system (INS). The floating wind turbine may further include at least one of a satellite navigation system or an inertial measuring unit (IMU). The inertial measurement device may be at least one of an MRU (Motion Reference Unit) and an MGC (Motion Gyro Compass). The wireless communication system may be a maritime broadband radio (MBR).

[0011] In a further embodiment, the present invention provides a mooring connection and tension adjustment module for controlling mooring connection and tension adjustment operations for mooring a floating wind turbine by an installation vessel using a ship tensioner. The floating wind turbine has at least one mooring cable that is moored to the seabed. The module includes an interface configured to receive data from a dynamic positioning system and a winch 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 may be adapted to control at least one of the winches and dynamic positioning systems on the installation vessel, based on at least one of the position of the floating wind turbine and the position of the vessel, in order to control at least one of the length, tension, or winch speed of the installation line / mooring rope during mooring rope connection and tension adjustment operations. The data may be real-time or near real-time.

[0012] In one aspect, the present invention provides a method for connecting mooring lines and adjusting tension for a floating wind turbine to the seabed using a mounting vessel. The method includes the use of a tensioner and controlling at least one winch and dynamic positioning system on the mounting vessel based on at least one input parameter. The method may further include controlling at least one winch and dynamic positioning system on the mounting vessel based on at least one of the position of the floating wind turbine and the position of the vessel. The method may further include controlling at least one winch and dynamic positioning system on the mounting vessel based on the motion of the floating wind turbine and the motion of the vessel. The method may further include compensating for relative movement between the floating wind turbine and the mounting vessel using at least one winch or dynamic positioning system on the mounting vessel during mooring line connection and tension adjustment operations. At least one of the winches and dynamic positioning systems on the installation vessel may be adapted to compensate for relative movement between the floating wind turbine and the installation vessel during mooring line connection and tension adjustment operations. The method may further include controlling at least one of the winches and dynamic positioning systems on the installation vessel to control at least one of the installation line / mooring line length, tension, or winch speed during mooring line connection and tension adjustment operations, based on at least one of the floating wind turbine position and the position of the vessel.

[0013] The present invention provides a tensioner combined with a winch having an integrated control system, installed on a vessel equipped with a DP (Drifting Point). This enables the connection and tension adjustment of mooring lines for a floating wind turbine (FWT). To perform mooring line connection and tension adjustment from a vessel using DP operation, the measuring equipment installed on the FWT does not require the transfer of workers to the FWT, and does not require the installation of a winch on the FWT, providing a solution.

[0014] The integrated functionality of the present invention includes everything from optimized tensioner design to winch design and controller, and further includes integration with dynamic positioning systems on ships as well as sensors involved in mooring rope connection and tension adjustment operations.

[0015] This functionality provides an efficient installation solution that reduces the Level Cost of Equipment (LCOE) in large-scale floating wind power development. The concept reduces or eliminates the need for winches on the floating structure. Furthermore, the invention expands the range of weather and ocean conditions under which mooring ropes can be connected, optimizing operational efficiency. Through integrated functionality, the mooring rope connection and tension adjustment module can advise the operator based on predetermined parameter levels and provide control inputs to the vessel's DP system and winch control system.

[0016] The built-in functions provided by the retraction and mooring rope connection function of the present invention are not limited to the installation of FWTs, but may be customized to accommodate a variety of operations, including the installation of mooring ropes and anchors in other floating structures. [Brief explanation of the drawing]

[0017] Hereinafter, exemplary embodiments of the present invention will be described with reference to the attached drawings. [Figure 1] This figure shows an exemplary floating wind turbine and installation vessel, and an example of the use of an integrated tensioner in the form of a ship tensioner for connecting and adjusting the tension of at least one line of mooring lines to a target tension in order to moor the floating wind turbine. [Figure 2] This figure shows an exemplary floating wind turbine and a moored installation vessel, and an example of the use of an integrated tensioner in the form of a ship tensioner for connecting and adjusting the tension of at least one line of mooring lines to a target pretension to moor the floating wind turbine. [Figure 3]FIG. 0 is a diagram showing an exemplary floating wind turbine and installation vessel and an example of the use of an integrated tensioner in the form of an inline tensioner to connect a mooring cable and adjust the tension to a target pre-tension for mooring the floating wind turbine. [Figure 4] FIG. 3 is a diagram showing an exemplary floating wind turbine and installation vessel and an example of the use of an integrated tensioner in the form of a subsea tensioner to connect a mooring cable and adjust the tension to a target pre-tension for mooring the floating wind turbine. [Figure 5] FIG. 6 is a diagram showing a pontoon of a floating wind turbine provided with equipment for performing a mooring cable connection and tension adjustment process by an installation vessel. [Figure 6] FIG. 9 is a diagram showing exemplary steps of a mooring cable connection and tension adjustment procedure using a ship tensioner. [Figure 7] FIG. 12 is a diagram showing exemplary steps of a mooring cable connection and tension adjustment procedure using an inline tensioner. [Figure 8] FIG. 15 is a diagram showing exemplary steps of a mooring cable connection and tension adjustment procedure using a subsea tensioner. [Figure 9] FIG. 18 is a diagram showing exemplary steps of a mooring cable connection and tension adjustment procedure using an installation vessel moored with a ship tensioner and an anchor. [Figure 10] FIG. 21 is a diagram showing exemplary steps of a mooring cable connection and construction elongation removal procedure using an installation vessel moored with a ship tensioner and an anchor, particularly with respect to a fiber line. [Figure 11] FIG. 24 is a diagram showing an exemplary integration concept among ship measuring instruments, ship winches, floating measuring instruments, a ship integrated tensioner master system, and a ship's DP system. [Figure 12] FIG. 27 is a diagram showing an exemplary extended DP function provided by a ship integrated tensioner master system. The working limit as an acceptable sector for the installation vessel (as shown) is calculated by the ship integrated tensioner master system and provided to the DP system of the installation vessel. [Figure 13]FIG. is a diagram showing an exemplary marine winch system having a winch HMI (Human Monitor Interface), a DP HMI (Human Monitor Interface), and a marine integrated tensioner master system HMI (Human Monitor Interface) provided on the bridge of a setting vessel. [Figure 14] FIG. is a diagram showing an exemplary marine integrated tensioner master system, a DP and winch control system, a human monitor interface (HMI), and at least one operator operating these systems. [Figure 15] FIG. is a diagram showing an exemplary marine tensioner attached to a floating wind turbine.

DETAILED DESCRIPTION OF THE INVENTION

[0018] Exemplary embodiments will be described below with reference to the accompanying drawings. In the drawings and this specification, the same reference numerals are used for the same or similar features. These embodiments do not limit the present invention.

[0019] The present disclosure is provided for the installation of floating wind turbines (FWTs), particularly offshore floating wind turbines. However, the present disclosure may be applicable to the installation of other floating structures performed by mooring cable connection and tension adjustment using a setting vessel.

[0020] FIG. 1 shows a floating wind turbine 2 and a setting vessel 4. The setting vessel may be, for example, an anchor handling vessel. The floating body measurement kit 7 may be installed on the floating wind turbine so as to wirelessly transmit the state data necessary for the setting vessel.

[0021] The measurement kit may be provided as a compact unit installed on the FWT. The measurement kit may be detachable from the FWT. The floating measurement kit may include at least one sensor. The floating measurement kit has a wireless transmitter for transmitting sensor information to the installation vessel. The floating wind turbine (FWT) is provided with at least one, preferably at least three, mooring lines to securely anchor the FWT to the seabed by connecting and tensioning the mooring lines. An installation line is installed between the winch wire of the winch on the installation vessel and the mooring lines. This tension adjustment method ensures that the entire mooring system of the FWT is within the required tolerances by pulling in additional mooring line segments via a tensioner.

[0022] [Tensioner] The tensioner in this disclosure is a device that has many functions similar to a fairlead in an offshore rig, guiding the line around an object (in this example, a wheel for a chain / wire) to adjust tension and prevent the line from moving laterally. However, the tensioner uses a ship's winch for mooring line connection and tension adjustment, eliminating the need for a mooring winch mounted on the FWT.

[0023] When the target tension is reached in the mooring system, the mooring rope is secured within the tensioner. The mooring rope may also be secured by a pawl, which functions as a chain stopper, as shown in Figure 15. In addition to open and closed modes, the pawl may be configured as a ratchet. In this case, the pawl functions as a ratchet, and each chain link is locked in stages with a so-called clicking sound.

[0024] As shown in Figure 1, a ship tensioner is a device that combines a fairlead, a chain stopper, and a tension adjustment device. The ship tensioner is attached to the hull of the FWT. During tension adjustment, the winch line of the ship winch is passed through the tensioner and connected to the mooring line of the FWT.

[0025] As shown in Figures 3 and 4, inline tensioners and subsea tensioners combine the functions of fixing and adjusting the tension of the chain. They are connected to one end of the mooring line of the FWT. The other end of the mooring line of the FWT is connected to a ship winch line and is pulled through the tensioner using a ship winch for tension adjustment. The tensioner used is selected according to the operating requirements. A ship tensioner is mounted on the floating structure. An inline tensioner is mounted on the mooring line 3. A subsea tensioner is mounted on the mooring line 3 in a position close to the anchor. By using at least one tensioner, mooring line connection and tension adjustment can be performed by an external ship, i.e., the installation ship, eliminating the need to mount a winch on the floating structure. The installation line / mooring line is pulled through the tensioner, ensuring a tension level within the required tolerance for the entire mooring system of the floating structure. It is desirable that the tensioner fasteners can be opened and closed during operation. When the tensioner is closed, the length of the installation line and / or mooring line is fixed. Conversely, when the tensioner is open, the tension / length of the installation line and / or mooring line may be controlled. The tensioner may be opened and closed remotely, for example, by wireless communication. Alternatively, the tensioner may be operated manually for opening and closing / fixing.

[0026] The optimal tensioner may depend on several factors, including the available fleet configuration, water depth, anchor radius, and, if necessary, creep removal in the fiber rope.

[0027] All tensioners can be set up using remote control, for example, via acoustic signals. This remote control allows the hydraulic backpack to be activated to open and close the fasteners. The hydraulic backpack is activated by transmitting acoustic signals.

[0028] [Installation ship] The installed vessel is equipped with a dynamic positioning system. Dynamic positioning (DP) involves automatically or semi-automatically controlling the position and bearing of the vessel using the vessel's own propellers and thrusters relative to one or more positional references. The dynamic positioning (DP) system can fix the vessel's position within a given set of parameters or steer the vessel in a way that would not be possible without the dynamic positioning system. The dynamic positioning (DP) system may steer the vessel based on many input parameters. These input parameters are, for example, • Sensors related to the position, bearing, and speed of a ship. • Sensors for external factors such as wind, waves, and currents, and • User input to perform tasks such as maintaining position or moving in a specific pattern. It may be obtained from [source].

[0029] User input may be provided, for example, from an external control center, from another vessel, from the captain on board, or via an interface from another system. The captain may input work data in various ways, including mouse operation, screen input, voice input, etc.

[0030] The control algorithm of the dynamic positioning (DP) system takes in sensor and user input parameters and controls the ship's propellers and thrusters to steer the ship even when external forces change. The DP system may be adapted to control the ship based on at least one first input parameter. At least one first input parameter is, • Location of floating wind turbines, • Ship's position, • Ship's bearing, • Thruster thrust of ships, • Motion of a floating wind turbine, including at least one of heave, sway, surge, roll, pitch, and yaw. • The motion of a ship, including at least one of heave, sway, surge, roll, pitch, and yaw. • Tension of installation lines / mooring ropes, • Length of installation line / mooring rope, Winch tension, • Output from the ship's winch control system, • Working limits for the installation vessel, and • Recommended location for the installation vessel It may include at least one of the following.

[0031] The winch control system may be adapted to control the winch of the installation vessel based on at least one second input parameter. The at least one second input parameter is: • Location of floating wind turbines, • Location of the installation vessel, • Motion of a floating wind turbine, including at least one of heave, sway, surge, roll, pitch, and yaw. • The motion of the installed vessel, including at least one of heave, sway, surge, roll, pitch, and yaw. • Location of installation lines / mooring ropes, • Tension of installation lines / mooring ropes, • Catenary for installation lines, • Output from the DP system of the installation vessel, and • The relative distance between the floating wind turbine and the ship on which it is installed. It may include at least one of the following.

[0032] The winch's special extended work execution function may compensate for movement between the installation vessel and the FWT by paying out or reeling in the installation line / mooring rope, depending on the situation and work function.

[0033] The winch control system on the installation vessel is equipped with special extended work execution functions that provide speed / length / tension setpoints for the winch. These special extended work execution functions of the winch control system may depend on the selected control mode. The winch can optimize tension adjustment operations by compensating for the motion of the floating body and the vessel, maintaining control parameters such as retraction speed, wire length, and winch tension within target values.

[0034] [Sensor kit for floating wind turbines (FWTs)] As described above, a minimal, standalone sensor kit for wirelessly transmitting necessary status data to the installation vessel can be installed on a floating wind turbine (FWT). The floating body measurement kit 7 is described in detail below. The measurement kit may be provided as a compact unit installed on the FWT. The measurement kit may be detachable from the FWT. The measurement kit may include at least one sensor for measuring the position of the floating body. The measurement kit may include at least one sensor for measuring the velocity, motion, acceleration, and position of the floating body. The measurement kit may include, for example, a differential GPS for measuring the position of the floating body, motion sensors and a gyrocompass for measuring roll, pitch, heave, bearing, velocity and acceleration in six degrees of freedom, a maritime broadband radio for wireless transmission with the installation vessel, and a battery or conventional power supply for powering the components of the measurement kit.

[0035] An example of a measurement kit installed on a floating wind turbine is described below.

[0036] A floating wind turbine may be equipped with an inertial navigation system (INS) 12. The inertial navigation system 12 may include at least one of a satellite navigation system (e.g., Global Navigation Satellite System (GNSS) or GPS) and an inertial measuring instrument (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, GLONASS, BeiDou, Galileo, QZSS, IRNASS, or NavIC. This allows monitoring of the motion of the floating wind turbine in six degrees of freedom, namely heave, sway, surge, roll, pitch, and yaw. The floating wind turbine 2 may further be equipped with a communication system (transceiver) 13 for transmitting signals from floating measuring instruments on the floating wind turbine, such as signals from the inertial navigation system (INS) and sensors, to the installation vessel. The communication system may be, for example, a maritime broadband radio (MBR), but other wireless communication systems may be used. The measuring instruments on the FWT may be installed in advance. The installation on the FWT may be removable.

[0037] The FWT and / or installation vessel may be equipped with a first sensor for measuring the distance between the floating wind turbine and the installation vessel. The first sensor is usually a distance sensor. The distance sensor may be an optical sensor. The optical sensor may be a laser sensor or an infrared (IR) sensor. Other distance sensors, such as radar or ultrasonic sensors, may also be used depending on the system and system requirements.

[0038] The relative movement between the installation vessel 4 and the floating wind turbine 2 may be indirectly estimated using data from at least two sensors. Here, at least one sensor is located on the installation vessel 4, and at least the other sensor is located on the floating wind platform 2. At least two of the sensors may be absolute position sensors.

[0039] The system may be provided with at least one inertial navigation system (INS) 12. This may be a satellite navigation system or an inertial measurement device. The inertial measurement device may be at least one of an MRU (motion reference unit) and an MGC (motion gyrocompass).

[0040] Figure 5 shows an example of the floating section (pontoon) of a floating wind turbine, which includes a floating measurement kit 7 and a ship tensioner attached to the FWT. The measurement kit on the FWT includes an inertial navigation system (INS) sensor 12 and a maritime broadband radio (MBR) for transmitting INS sensor information to the installation vessel. The inertial navigation system (INS) sensor 12 may also include a global navigation satellite system (GNSS) sensor and an inertial measuring unit (MRU or MGC) sensor for measuring the position and movement of the FWT. The installation vessel 4 is equipped with an inertial measuring unit (MRU or MGC) sensor 17 for measuring the motion of the installation vessel. In Figure 5, the inertial measuring unit sensor 17 is located on the winch. By equipping the winch with an inertial measuring unit (MRU or MGC), the accuracy of the winch's position and movement on the installation vessel is improved, and compensation for the installation vessel's motion relative to the winch is performed with greater precision. In all embodiments of this disclosure, the inertial measuring device (MRU or MGC) may be mounted on the winch.

[0041] [Ship tensioner] In the situation shown in Figure 1, the FWT is in its final mooring position, and the last cluster / last line 3 is lifted from the seabed and pulled in to connect and tension the mooring line to the target pretension. For an FWT moored with three lines, there may be one last line; for a total of six lines, there may be two last lines; and for a total of nine lines, there may be three last lines. The installation vessel is provided with a winch 6 for pulling in the installation line 18 to which the mooring line is connected and tensioned. The winch 6 may be controlled by a winch control system. The installation line may be a fiber line, wire, or chain. The mooring line may be a fiber line, wire, chain, or a combination of at least two of these. The installation line 18 is connected to the mooring line. The installation line 18 may be controlled by the winch 6. In Figure 1, the installation line is paid out overboard from the stern side of the installation vessel. The installation line passes through a tensioner 9 attached to the FWT. The tensioner is mounted on the underside of one of the floating elements of the FWT2 in Figure 1. The tensioner may be equipped with an underwater acoustic or hydraulic opening and closing mechanism for opening and closing the fastener. The underwater acoustic or hydraulic opening and closing mechanism may be remotely controlled, for example, by wireless or wired remote operation. The tensioner may be a ship tensioner. In the connection and tension adjustment of the mooring lines, the installation vessel and the mooring lines may be controlled taking into account the relative motion between the FWT and the installation vessel. This improves safety during operation. Furthermore, controlling the installation vessel relative to the FWT allows for operation in more severe weather conditions.

[0042] The FWT is equipped with a floating body measurement kit 7 for detecting at least one parameter and communicating that at least one parameter to the installation vessel 4. At least one parameter may be the position of the FWT. At least one parameter may be the geographic position of the FWT. At least one parameter may also be the movement of the FWT. The installation vessel is equipped with ship measuring instruments 5. The floating body measurement kit 7 may transmit information from the sensors of the measurement kit to the ship measuring instruments 5 on the installation vessel. The ship measuring instruments may measure the position of the vessel or the movement of the installation vessel. Special extended work execution functions of the winch may compensate for movement between the vessel and the tensioner by paying out or reeling in the installation line / mooring rope, depending on the situation and work function. Special extended work execution functions of the DP system may compensate for movement between the installation vessel and the FWT by controlling the position and bearing of the installation vessel, depending on the situation and work function. The winch and DP system may work together to compensate for movement between the installation vessel / tensioner and the FWT. Depending on the situation and the function of the work, the position and orientation of the installation vessel and the unwinding / winding of the installation line may be controlled simultaneously.

[0043] Figure 2 shows the installation vessel 14 moored with a floating wind turbine 2 and anchor 16. The installation vessel is equipped with a winch 6 and ship measuring instruments, as described above. The FWT is equipped with a measuring kit 7, as described above. The anchor 16 may be a standalone anchor or may be connected to the anchor of the mooring line 3. Figure 2 shows a situation similar to Figure 1, where the FWT is in its final mooring position, and the last cluster / last line 3 is pulled up from the seabed and pulled in to connect and tension the mooring line to the target pretension. The anchor assists the DP system on the installation vessel. In situations where a reaction anchor is used, the working function of the DP system behaves differently than in the situation shown in Figure 1. The anchor allows for stronger pull and much higher tension on the mooring line. This is particularly useful when pulling up the removal of construction elongation shown in Figure 9. The use of a reaction anchor also contributes to reducing the fuel consumption of the installation vessel. In the event of a failure of the reaction anchor, a failure mode is provided to avoid contact between the installation vessel and the floating structure. In the event of anchor failure, the DP system assists in preventing contact with the FWT by working with the winch that pays out the installation line / mooring cable. The DP system may also assist in the event of winch failure, and the winch may also assist in the event of DP system failure.

[0044] [Inline Tensioner] Figure 3 shows a floating wind turbine 2 and a floating installation vessel 4. An inline tensioner 10 is connected to the mooring line 3. The installation vessel is equipped with a winch 6 and ship measuring instruments 5, as described above. The FWT is equipped with a measuring kit 7, as described above. The installation vessel is positioned above the inline tensioner, and as shown in Figure 3, a small angle is formed between the installation line 18, which runs from the position above the stern of the installation vessel to the inline tensioner, and the vertical direction. This small angle reduces the bollard pull of the installation vessel required for mooring line connection and tension adjustment. The installation line 18 pulls the mooring line 3 through the inline tensioner. Because the installation vessel is positioned above the inline tensioner, the tension of the mooring line can be obtained by controlling the length of the installation line. The length of the installation line is controlled by the ship winch based on the position and movement of the FWT, thereby controlling the tension of the mooring line during mooring line connection and tension adjustment operations. The DP system controls the position and bearing of the installation vessel based on the position and movement of the FWT, ensuring that the installation vessel is maintained above the inline tensioner. The ship's integrated tensioner master control system may control the ship's DP system and ship winch based on the position and movement of the FWT, as well as the position and movement of the installation vessel. Information regarding the FWT's position and movement is provided to the ship's integrated tensioner master control system via wireless communication from the FWT's measurement kit 7. The position and movement of the installation vessel is provided to the ship's integrated tensioner master control system from the measurement equipment. The integration of the system is described in detail below. This configuration, which controls the winch based on sensor information from the FWT and the installation vessel, expands the installation conditions in mooring rope connection and tension adjustment procedures, making it possible to perform these procedures even in adverse weather conditions.

[0045] [Underwater Tensioner] Figure 4 shows an exemplary floating wind turbine and installation vessel, and an example of the use of an integrated tensioner in the form of a seabed tensioner for connecting and adjusting the tension of at least one line of mooring lines to a target pretension to moor the floating wind turbine. Figure 4 shows the floating wind turbine 2 and the floating installation vessel 4. The seabed tensioner 11 is connected to the mooring line 3. The installation vessel is equipped with a winch 6 and ship measuring instrument 5 as described above. The FWT is equipped with a floating measuring kit 7 as described above. The installation vessel is positioned away from the location of the seabed tensioner. As a result, the angle formed between the direction defined by the installation line 18 shown in Figure 4 and the vertical direction passing through the seabed tensioner 11 is relatively larger compared to the case of the inline tensioner described above. When using a seabed tensioner, the position of the FWT is less important compared to when using an inline tensioner. The combined force of the winch and the positioning of the installation vessel ensure that the installation vessel maintains a relatively large angle during the mooring rope connection and tension adjustment procedures. The ship's integrated tensioner master control system may control the ship's DP system and ship's winch based on the position and movement of the FWT, as well as the position and movement of the installation vessel, as described above with respect to Figure 3.

[0046] [Removal of expansion during construction (CSR)] The concepts of this disclosure are intended for use during mooring cable connection work on floating wind turbines. This is to ensure that the final pre-tension level in the mooring cables falls within the required limits set by the operator. When the mooring system is constructed using fiber lines such as polyester, it is necessary to remove construction elongation from the system during the mooring cable connection work before reaching the target pre-tension value.

[0047] Due to the elongation phenomenon that occurs during installation in fiber ropes, it is often necessary to adjust the amount of top chain payout. Fiber ropes stretch over time due to being subjected to tension over extended periods. This phenomenon is considered particularly pronounced in polyester ropes. It is usually necessary to pull the mooring rope through the tensioner to reach approximately 40% of the MBL (Main Brace Line) tension of the mooring rope, and then it is often necessary to pay out the mooring rope to reach the final pre-tension.

[0048] CSR operations are often carried out by AHTS vessels. However, the existing fleet of AHTS vessels and current methods make it difficult to achieve high tensions, such as several hundred tons.

[0049] [System Integration] Figure 11 illustrates an exemplary integration concept between ship measuring instruments, ship winches, floating body measuring kits, ship integrated tensioner master systems, and ship DP systems.

[0050] The ship's measuring instrument 5 transmits data related to the ship's motion to the ship's DP system 23 and ship's winch 6. The ship's motion can be, for example, six degrees of freedom (DOF) and velocity / acceleration in six degrees of freedom.

[0051] The floating instrument 7 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 may be, for example, six degrees of freedom (DOF) and velocity / acceleration in six degrees of freedom. The floating instrument 7 also transmits data related to the position of the floating wind turbine to the ship's DP system 23 and ship's integrated tensioner master system 22. The position of the floating wind turbine may be, for example, GNS coordinates.

[0052] The winch transmits winch operation data to the ship's integrated tensioner master 22. The ship's winch 6 is equipped with a winch control system having special extended work execution functions. These special extended work execution functions may provide a speed setpoint for the winch.

[0053] The ship's winch receives information from the ship's integrated tensioner master system 22. This information may include winch control settings, operational advice, FWT position, ship position, and integrated fault response.

[0054] The winch receives information about the ship's motion from the ship's measuring instrument 5. The information may include, for example, the ship's motion in six degrees of freedom, as well as at least one of the velocity / acceleration in six degrees of freedom.

[0055] The winch also receives information regarding the motion of the floating body from the floating body measuring instrument 7. This information may include, for example, the motion of the floating body in six degrees of freedom, and at least one of the velocity / acceleration in six degrees of freedom.

[0056] The ship's integrated tensioner master system 22 receives information from the measuring instruments 7 on the floating body. The information may include at least the position of the floating body. The position of the floating body may include the motion of the floating body in six degrees of freedom, as well as the velocity / acceleration in six degrees of freedom.

[0057] Furthermore, the ship's integrated tensioner master system 22 may receive winch operation data from the ship's winch 6.

[0058] The ship's integrated tensioner master system 22 may also receive information from the ship's DP system 23. This information may include at least one of the status of the DP system, the operational settings and parameters of the DP, and the ship's position and bearing.

[0059] The ship's integrated tensioner master system 22 may provide information to the DP system of the ship on which it is installed. This information may include winch parameters, operating limits, operational advice, and integrated fault response.

[0060] The ship's integrated tensioner master system 22 may provide information to the ship's winch. The information provided to the ship's winch may include winch control settings, operational advice, FWT location, location of the ship on which it is installed, and integrated fault response.

[0061] The DP system on the installation vessel is equipped with special extended work execution functions. These special extended work execution functions of the DP control the position and bearing of the installation vessel based on multiple input parameters.

[0062] As described above, the DP system receives information from the measuring instruments on the vessel where it is installed, such as information about the ship's movement.

[0063] Furthermore, as described above, the DP system may receive information regarding the position of the FWT from the measuring instrument 7 on the FWT.

[0064] The DP system also receives input parameters from the ship's integrated tensioner master system 22. The input parameters from the ship's integrated tensioner master system 22 may include winch parameters, operating limits, operational advice, and integrated fault response.

[0065] The DP system provides information to the ship's integrated tensioner master system 22. This information may include the status of the DP system, the DP's operational settings and parameters, as well as the ship's position and bearing.

[0066] At least one of the winches and dynamic positioning (DP) systems on the installation vessel may be controlled based on at least one input parameter for mooring and tensioning at least one mooring line of a floating wind turbine to the seabed. The input parameter may be at least one of the position of the floating wind turbine and the position of the vessel. The input parameter may be at least one of the motion of the floating wind turbine and the motion of the vessel. Relative movement between the floating wind turbine and the installation vessel may be compensated for by at least one of the winches and dynamic positioning systems on the installation vessel during mooring line connection and tensioning operations. By controlling at least one of the winches and dynamic positioning systems on the installation vessel, at least one of the installation line / mooring line length, tension, or winch speed may be controlled during mooring line connection and mooring operations.

[0067] By integrating an optimized winch controller with the winch, the process of mooring rope connection and tension adjustment can be performed in more challenging sea conditions.

[0068] By using sensor information from the sensor kit 7 (MRU or RMS) installed on the FWT in the winch and DP control software, functionality is further enhanced, and more compensation can be provided for the motion of the installation vessel and the FWT. By integrating the DP into the overall control loop, the installation vessel can further compensate for the relative motion between the installation vessel and the FWT. By integrating the installation vessel's position control capability with the winch behavior and operating with complete control over power usage, mooring rope connection and tension adjustment operations can be performed more safely and under more challenging sea conditions.

[0069] Integrating DP into the overall control loop offers the following advantages: • Improved accuracy of fixed point holding using DP controller • Optimal allocation of power demand, winches, and propulsion equipment • Improved safety and reduced risk The impact of failure scenarios is reduced by including assistance from the DP and the failure modes built into the winch. That is, if the winch malfunctions, the DP will provide assistance, and vice versa.

[0070] Figure 12 illustrates an exemplary extended DP function provided by the Ship Integrated Tensioner Master System. Working limits for the installation vessel are calculated by the Ship Integrated Tensioner Master System in the form of permissible sectors (as shown) and provided to the installation vessel's DP system. Working limits are set based on requirements regarding bearing and the direction of the installation line, and are intended to avoid bending of the installation line and structures attached to the floating body. The installation line extends from the ship's winch beyond the stern of the installation vessel, typically via sheaves or guides. If the bearing deviation from the direction of the installation line is excessively large, the installation line may come off the sheave or guide.

[0071] Figure 13 shows an exemplary ship winch system, which includes an HMI for the winch, an HMI for the DP, and an HMI for the ship's integrated tensioner master system, installed on the bridge of the ship.

[0072] Figure 14 shows an exemplary ship-integrated tensioner master, DP and winch control system, human monitor interface (HMI), and at least one human operator operating these systems. The human monitor interface provides operational advice to the human operator of these systems. The integrated tensioner master, DP and winch control system may be designed as an autonomous or semi-autonomous system. In the event of a specific failure mode, the ship-integrated tensioner master may take over control of the system, which is normally operated by a human, and automatically perform critical operations to avoid a major incident.

[0073] Figure 15 shows an exemplary ship tensioner attached to a floating wind turbine. The ship tensioner 8 is provided with a fastener 24 in the open position.

[0074] The ship's tensioner is equipped with an underwater acoustic or hydraulic opening and closing mechanism for opening and closing the fastener 24.

[0075] [Examples] The following embodiments are illustrative for illustrative purposes only and do not limit the disclosure.

[0076] [Figure 6: Example of mooring rope connection and tension adjustment using a ship tensioner] The FWT is equipped with three mooring lines. Two of these are already connected to the FWT at a predetermined length. The ship tensioner is connected to the FWT. The process of connecting the third and final mooring line via the ship tensioner may be carried out as follows:

[0077] The installation vessel's DP maintains a predetermined position or distance from the FWT. The ship's winch, based on sensor input, actively compensates for relative movement between the installation vessel and the FWT due to weather conditions, retracts the mooring lines at a constant speed to adjust the tension of the mooring lines, and further stabilizes the mooring lines against the ship's tensioner when locking the fasteners. Step 1: The pull-in wire is passed through the ship's tensioner, with one end connected to the mooring rope and the other end connected to the winch wire. The mooring rope is pulled up towards the tensioner. Step 2: The mooring rope is pulled in through the tensioner at a constant speed. Step 3: The mooring rope is tensioned to the target tension or target length. Step 4: The mooring rope is held securely against the tensioner, and the tensioner's fastener is closed to fix the length of the mooring rope. Step 5: The tension on the winch wire is released at a constant speed.

[0078] [Figure 7 Example of mooring rope connection and tension adjustment using an inline tensioner] The FWT is provided with three mooring ropes. Two of these are already moored to the FWT at a predetermined length. The top segment of the third mooring rope may be moored to the FWT at the other end using an inline tensioner. The mooring connection of the third mooring rope may be carried out as follows.

[0079] The installation vessel's DP maintains a predetermined position or distance from the FWT. The ship's winch, based on sensor input, actively compensates for relative movement between the installation vessel and the inline tensioner due to weather conditions, retracts the mooring line at a constant speed to adjust the tension of the mooring line, and further stabilizes the mooring line relative to the ship's tensioner when locking the fastener. Step 1: The pull-in wire is passed through an inline tensioner, with one end connected to the mooring rope and the other end connected to the winch wire. The mooring rope is pulled up towards the tensioner. Step 2: The winch wire and mooring rope bottom chain are pulled through the tensioner at a constant speed. Step 3: The mooring rope is tensioned to the target tension or target length. Step 4: The mooring rope is held securely against the tensioner, the tensioner's fastener is closed, and the tension on the winch wire is released at a constant speed.

[0080] [Figure 8: Example of mooring rope connection and tension adjustment using a seabed tensioner] Three mooring lines are provided on the FWT. Two of these are already moored to the FWT at a predetermined length. The top segment of the third mooring line may be moored to the FWT at the other end using a seabed tensioner. The mooring connection of the third mooring line may be carried out as follows.

[0081] The installation vessel's DP maintains a predetermined position or distance from the FWT. The ship's winch, based on sensor input, actively compensates for relative movement between the installation vessel and the seabed tensioner due to weather conditions, retracts the mooring line at a constant speed to adjust the tension of the mooring line, and further stabilizes the mooring line relative to the ship's tensioner when locking the fastener. Step 1: The pull-in wire is passed through the seabed tensioner, with one end connected to the mooring rope and the other end connected to the winch wire. The mooring rope is then pulled up towards the tensioner. Step 2: The winch wire and mooring rope bottom chain are pulled through the tensioner at a constant speed. Step 3: The mooring rope is tensioned to the target tension or target length. Step 4: The mooring rope is held securely against the tensioner, the tensioner's fastener is closed, and the tension on the winch wire is released at a constant speed.

[0082] [Figure 9: Example of mooring rope connection and tension adjustment using a moored vessel with a ship tensioner and anchor] Three mooring lines are provided on the FWT. Two of these are already connected to the FWT at a predetermined length. A ship tensioner is connected to the FWT. The connection of the third and final mooring line via the ship tensioner may be carried out as follows:

[0083] When line tension is low toward the FWT and reaction anchor, the DP of the installation vessel maintains a predetermined position or distance from the FWT. When tension is high, the DP gradually reduces thruster force while maintaining bearing as needed.

[0084] The ship's winch, based on sensor input, actively compensates for relative movement between the installed vessel and the FWT due to weather conditions, pulls in the mooring line at a constant speed to adjust the tension of the mooring line, and further stabilizes the mooring line against the ship's tensioner when locking the fastener. Step 1: The pull-in wire is passed through the ship's tensioner, with one end connected to the mooring rope and the other end connected to the winch wire. The mooring rope is pulled up towards the tensioner. Step 2: The mooring rope is pulled in through the tensioner at a constant speed. Step 3: The mooring rope is tensioned to the target tension or target length. Step 4: The mooring rope is held securely against the tensioner, and the tensioner's fastener is closed to fix the length of the mooring rope. Step 5: The tension on the winch wire is released at a constant speed.

[0085] [Figure 10 Mooring rope connection and removal of elongation during installation - Example of a vessel moored with ship tensioners and anchors] Three mooring lines are provided on the FWT. Two of these are already connected to the FWT at a predetermined length. A ship tensioner is connected to the FWT. The connection of the third and final mooring line via the ship tensioner may be carried out as follows:

[0086] When line tension is low toward the FWT and reaction anchor, the DP of the installation vessel maintains a predetermined position or distance from the FWT. When tension is high, the DP gradually reduces thruster force while maintaining bearing as needed.

[0087] The ship's winch, based on sensor input, actively compensates for relative movement between the installed vessel and the FWT due to weather conditions, pulls in the mooring line at a constant speed to adjust the tension of the mooring line, and further stabilizes the mooring line against the ship's tensioner when locking the fastener. Step 1: The pull-in wire is passed through the ship's tensioner, with one end connected to the mooring rope and the other end connected to the winch wire. The mooring rope is pulled up towards the tensioner. Step 2: The mooring rope is pulled in through the tensioner at a constant speed. Step 3: The mooring rope is tensioned to the target tension or target length. Step 4: The mooring rope is held securely against the tensioner, and the tensioner's fastener is closed to fix the length of the mooring rope. Step 5: The tension on the winch wire is released at a constant speed, and the FWT returns to the equilibrium position. In this step, the CSR is removed, and this step does not involve operation by the integrated tensioner system. Step 6: Transmit a signal to the ship's tensioner to release the fastener. Retract the work winch and increase the tension to substantially move the FWT toward the anchored ship. Step 7: Pull the mooring rope out from the fastener and operate the work winch until the desired length is reached. The mooring rope is held securely against the tensioner, and the tensioner fastener closes to fix the length of the mooring rope. Step 8: Extend the winch to allow it to disconnect from the mooring line. Step 9: Perform the finishing touches.

[0088] As described above in this specification, each type of tensioner has its own advantages and disadvantages, and the optimal choice depends on several parameters, including the design of the mooring system, field characteristics, available fleet configurations, and the required operability and customer requirements.

[0089] Winches are incorporated into the system to ensure that the line length, pulling force, or speed remains constant. This reduces dynamic loads, improves installation conditions, and consequently shortens waiting times for weather improvements. Additionally, tensioners, through their pulley-blocking effect, can reduce the assistance required for mooring rope connection operations.

[0090] Another advantage of the advanced winches and systems is the ability to optimize available fleet configurations and the utilization of bollard pulls. This is related to improved winch compensation and the accuracy of fixed-point holding by the DP controller. Furthermore, the probability of failures during installation, such as chain jamming in the tensioner, is reduced, enabling more stable operation and lowering operational risk.

[0091] While examples of embodiments of the present invention have been described above, those skilled in the art will understand that other embodiments incorporating the concepts of the present invention are also usable. These and other examples shown above are for illustrative purposes only, and the actual scope of the present invention is defined by the appended claims.

Claims

1. A system for connecting and adjusting the tension of mooring lines for a floating wind turbine to the seabed, A floating wind turbine, comprising at least one mooring cable adapted for mooring the floating wind turbine to the seabed, A dynamic positioning (DP) system and a winch are installed on a ship, wherein the winch is adapted to control mooring lines / installation lines on the ship. A tensioner adapted for the aforementioned mooring rope / installation line, Includes, Adapted to control at least one of the winches and dynamic positioning systems on the installation vessel based on at least one input parameter for mooring connection and tension adjustment of at least one of the mooring lines of the floating wind turbine to the seabed, system.

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

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

4. The system according to any one of claims 1 to 3, wherein, in mooring rope connection and tension adjustment operations, at least one of the winch and the dynamic positioning system on the installation vessel is adapted to compensate for relative movement between the floating wind turbine and the installation vessel.

5. The system according to any one of claims 1 to 3, wherein at least one of the winch and the dynamic positioning system on the installation vessel is adapted to compensate for relative movement between the floating wind turbine and the installation vessel.

6. The system according to any one of claims 1 to 4, adapted to control at least one of the winch and the dynamic positioning system on the installation vessel to control at least one of the length, tension, or winch speed of the installation line / mooring rope in connection and mooring operations.

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

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

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

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

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

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

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

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

15. The system according to claim 14, wherein the inertial measuring device is at least one of an MRU (motion reference unit) and an MGC (motion gyrocompass).

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

17. An installation vessel for performing mooring line connection and tension adjustment work to moor at least one mooring line of a floating wind turbine to the seabed using a mooring line / installation line tensioner, wherein the installation vessel includes a dynamic positioning (DP) system and a winch, and at least one of the winch and the dynamic positioning system is adapted to control the installation line / mooring line of the floating wind turbine based on at least one input parameter relating to the mooring line connection and tension adjustment of the mooring line of at least one mooring line of the floating wind turbine to the seabed.

18. The installation vessel according to claim 17, wherein the installation vessel is adapted to compensate for relative movement between the floating wind turbine and the installation vessel during mooring rope connection and tension adjustment operations.

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

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

21. The installation vessel according to any one of claims 17 to 20, wherein, in mooring rope connection and tension adjustment operations, at least one of the winch and the dynamic positioning system on the installation vessel is adapted to compensate for relative movement between the floating wind turbine and the installation vessel.

22. The installation vessel according to any one of claims 17 to 21, adapted to control at least one of the winch and the dynamic positioning system on the installation vessel to control at least one of the length, tension, or winch speed of the installation line / mooring rope in connection and mooring operations.

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

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

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

26. The installation vessel according to claim 24, wherein the sensor information includes at least one of the position and motion of the floating wind turbine.

27. The installation vessel according to claim 25 or 26, wherein the wireless communication system is a maritime broadband radio (MBR).

28. A floating wind turbine, At least one mooring line adapted for mooring the floating wind turbine to the seabed, At least one sensor, A wireless communication system adapted to transmit sensor information to an installation vessel adapted for mooring connection and tension adjustment of at least one of the mooring lines of the floating wind turbine to the seabed, Floating wind turbines, including...

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

30. The floating wind turbine according to claim 28 or 29, wherein the floating wind turbine includes at least one motion sensor for measuring the motion of the floating wind turbine.

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

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

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

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

35. The 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 module for controlling mooring line connection and tension adjustment operations for mooring a floating wind turbine by an installation vessel using an installation vessel tensioner, wherein the floating wind turbine has at least one mooring line moored to the seabed, and the module includes an interface configured to receive data from a dynamic positioning system and a winch 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.

37. The module according to claim 36, wherein the data includes at least one input parameter from the floating wind turbine.

38. The module according to claim 37, wherein at least one of the input parameters from the floating wind turbine includes the position of the floating wind turbine.

39. The module according to any one of claims 36 to 38, wherein the data includes winch operation information from the winch of the installation vessel.

40. The module according to any one of claims 36 to 39, wherein the data includes information from the dynamic positioning system of the vessel on which it is installed.

41. The module according to any one of claims 36 to 40, wherein the control system is adapted to control the winch and at least one of the dynamic positioning system on the installation vessel based on at least one of the position of the floating wind turbine and the position of the installation vessel in order to control at least one of the length, tension, or winch speed of the installation line / mooring line in mooring line connection and tension adjustment operations.

42. A method for connecting and adjusting the tension of mooring lines for a floating wind turbine to the seabed by an installation vessel, comprising the use of a tensioner and controlling at least one of a winch and a dynamic positioning system on the installation vessel based on at least one input parameter.

43. The method according to claim 42, comprising controlling at least one of the winch and the dynamic positioning system on the installation vessel based on at least one of the position of the floating wind turbine and the position of the installation vessel.

44. The method according to claim 42 or 43, further comprising controlling at least one of the winch and the dynamic positioning system on the installation vessel based on at least one of the motion of the floating wind turbine and the motion of the installation vessel.

45. The method according to any one of claims 42 to 44, further comprising compensating for relative movement between the FWT and the installation vessel by at least one of the winch and the dynamic positioning system on the installation vessel during mooring rope connection and tension adjustment operations.

46. The method according to any one of claims 42 to 45, wherein at least one of the winch and the dynamic positioning system on the installation vessel is adapted to compensate for relative movement between the floating wind turbine and the installation vessel during mooring rope connection and tension adjustment operations.

47. The method according to any one of claims 42 to 46, further comprising controlling the winch on the installation vessel and at least one of the dynamic positioning system to control at least one of the length, tension, or winch speed of the installation line / mooring rope in mooring rope connection and tension adjustment operations, based on at least one of the position of the floating wind turbine and the position of the installation vessel.

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