Supervisory Control for Coordinated Vessel and Structure Positioning
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Solution Overview
Problem
Jackup vessels used for installing structures on the seabed are inefficient due to time-consuming jacking processes and prone to wear from expensive moving parts, and alternative motion-compensated vessels with dynamic positioning systems face limitations in controlling vessel and structure positions effectively.
Innovation Solution
A supervisory control arrangement that integrates dynamic positioning and structure positioning systems, using input, processing, and output modules to coordinate actuators and sensors, allowing for improved stability and workability by predicting and compensating for motive actions and external disturbances, thereby enhancing the efficiency of structure installation on the seabed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If jackup vessels are used for installing structures on the seabed, then the vessel can be lifted above the sea surface to decouple from waves and current forces, but the jacking process requires a lot of time and the expensive moving parts are prone to wear
Solution Approach 1:
The patent replaces the mechanical jacking system with a dynamic positioning system that uses thrusters and sensors to maintain vessel position. This substitution eliminates the need for repetitive mechanical jacking operations, reducing wear on moving parts and saving time while maintaining vessel stability during structure installation.
2Reliability
If jackup vessels are used for installing structures on the seabed, then the vessel can be lifted above the sea surface to decouple from waves and current forces, but per new location the entire jacking up has to be performed again which is an ineffective process
Solution Approach 1:
The dynamic positioning system replaces the mechanical jacking system, allowing the vessel to maintain stable positioning through electronic control rather than repetitive mechanical operations. This enables faster repositioning between installation locations while maintaining stability, significantly improving productivity.
Solution Approach 2:
The system transitions from a static jacked-up position to a dynamic positioning mode where thrusters continuously adjust vessel position and orientation. This dynamic approach allows the vessel to adapt to changing conditions and reposition efficiently between locations without repeating the entire jacking process.
3Productivity
If a dynamic positioning system is used to control vessel position, then the vessel can operate without jacking up, but the system has limited ability of controlling position due to limited degrees of freedom and limited force delivery
Solution Approach 1:
The system incorporates sensors that continuously monitor vessel position, orientation, and environmental conditions, feeding this data back to the control system. This feedback loop enables real-time adjustments to thruster commands, compensating for limited degrees of freedom and force delivery to achieve accurate position control.
Solution Approach 2:
The supervisory control arrangement integrates multiple control functions including position control, orientation control, and coordination with structure positioning systems into a single unified system. This multi-functional approach maximizes the utilization of available thruster capabilities across all six degrees of freedom.
4Adaptability or versatility
If the dynamic positioning system and structure positioning system are operated separately, then each system can function independently, but coordination between systems is poor leading to reduced stability and workability
Solution Approach 1:
The supervisory control arrangement merges the dynamic positioning system and structure positioning system into a coordinated unified control architecture. This integration allows real-time communication and coordination between the two systems, improving overall stability and workability while maintaining the functional capabilities of each individual system.
Data Source
AI summary
In a vessel for installing a structure onto or into a seabed, multiple actuators comprised by a dynamic positioning system and a structure positioning system may be used for controlling a position and/or orientation of the structure. When two actuators are actuated simultaneously or in rapid succession, instabilities may occur. Furthermore, two actuators may be working in opposite directions or with opposite control goals. To increase stability and/or workability of the vessel's actuators, a supervisory control arrangement is provided to interconnect control systems of different actuators of the vessel, for example the dynamic positioning system and the structure positioning system. Where previously the dynamic positioning system and the structure position system were individually operating system, with the supervisory control arrangement one system can take into account an input and/or output of the other system.