Pile Gripper Positioning With Partial Vessel Motion Compensation
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Solution Overview
Problem
The independent operation of dynamic positioning systems and pile gripper positioning systems on floating vessels during monopile installation can lead to stability issues, particularly when compensating for vessel motion, resulting in unstable behavior.
Innovation Solution
Implement a control system that partially compensates for vessel deviations during monopile installation by using a pile gripper positioning system to adjust the monopile's position relative to the vessel, incorporating a measurement system and control unit to manage forces and positions, and a dynamic positioning system to partially correct vessel positioning based on actual and desired positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the pile gripper positioning system fully compensates for vessel motion, then the monopile positioning precision is improved, but the system stability deteriorates due to excessive forces creating unstable feedback loops
Solution Approach 1:
The patent applies partial compensation by having the pile gripper positioning system compensate for only a portion of the vessel's motion rather than fully compensating. This is achieved through the control system that calculates compensation based on a fraction of the measured vessel deviation, thereby improving stability while maintaining adequate positioning precision for monopile installation
2Device complexity
If the dynamic positioning system and pile gripper positioning system operate independently, then the system complexity is reduced, but the positioning reliability deteriorates due to instability in the dynamic positioning system
Solution Approach 1:
The patent merges the dynamic positioning system and pile gripper positioning system into an interconnected control architecture. The control system receives vessel position data from the dynamic positioning system and uses it to calculate partial compensation for the pile gripper positioning system, creating a coordinated operation that improves reliability while managing complexity through integrated control logic
Data Source
AI summary
The invention relates to a pile gripper positioning system for a pile gripper that is configured to be provided on a vessel to engage with a monopile during a monopile installation method, wherein the pile gripper positioning system comprises: —an actuator system for applying forces to the pile gripper to position the pile gripper relative to the vessel, —a measurement system for determining a position of the monopile in the pile gripper relative to the vessel, and—a pile gripper control unit for driving the actuator system in dependency of a desired position and an actual position of the monopile as measured by the measurement system, wherein the pile gripper control unit is configured to receive a signal representative for a position of the vessel, wherein, during at least a portion of the monopile installation method, the pile gripper control unit is configured to determine a drive signal for the actuator system to compensate at most a portion of a deviation of the position of the vessel from a desired position of the vessel, and wherein, during said at least a portion of the monopile installation method, the pile gripper control unit for driving the actuator system is configured to drive the actuator system in dependency of a desired position and an actual position of the monopile as measured by the measurement system, and the drive signal to compensate at most a portion of a deviation of the position of the vessel from a desired position of the vessel.