CN105857521A - Boat positioning system and method used for wind-power work boat - Google Patents
Boat positioning system and method used for wind-power work boat Download PDFInfo
- Publication number
- CN105857521A CN105857521A CN201610200598.8A CN201610200598A CN105857521A CN 105857521 A CN105857521 A CN 105857521A CN 201610200598 A CN201610200598 A CN 201610200598A CN 105857521 A CN105857521 A CN 105857521A
- Authority
- CN
- China
- Prior art keywords
- ship
- full circle
- wind power
- positioning
- power construction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000010276 construction Methods 0.000 claims description 35
- 230000005611 electricity Effects 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 241000870659 Crassula perfoliata var. minor Species 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000008685 targeting Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/16—Tying-up; Shifting, towing, or pushing equipment; Anchoring using winches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
Abstract
The invention discloses a boat positioning system and method used for a wind-power work boat. According to the scheme, the boat positioning system is composed of a DP1 control system, two sets of full-rotating propellers and two sets of positioning winches in a matched mode; the first set of full-rotating propellers are arranged on the stern portion of the wind-power work boat; the second set of full-rotating propellers are arranged on the bow portion of the wind-power work boat; the DP1 control system controls the two sets of full-rotating propellers at the same time; the first set of positioning winches are arranged on a deck on the stern portion; and the second set of positioning winches are arranged on a wedge bracket platform on the bow portion. By the adoption of the scheme, the wind-power work boat can be positioned rapidly and conveniently, the power positioning capacity is high, the operation reliability is high, and safe and reliable operation of the wind-power work boat can be guaranteed.
Description
Technical field
The present invention relates to a kind of wind power construction ship, the dynamic positioning technology being specifically related on wind power construction ship.
Background technology
Wind power construction ship is also a kind of offshore platform.At present wind power construction ship is roughly divided into two classes:
The first kind is non-self boat jack up wind power construction ship, and this kind of boats and ships are fairly simple, and hull is exactly a letter
Single barge, completes to move ship by deck winch location of casting anchor, relies on windlass location to move ship, dispatch and lean on during work
Large-scale tugboat traction.This deck winch cast anchor targeting scheme complex operation, efficiency is low and positioning precision is the highest.
Equations of The Second Kind is for from navigating jack up, and this kind of boats and ships are configured with the propulsion system that power is bigger, equipped with power
Alignment system, relies on self rudder oar dynamic positioning system to carry out positioning (being not required to cast anchor) during work.This power
Alignment system scheme has for deck winch casts anchor targeting scheme that positioning time is short, efficiency is high, also
Safer, rely on self also can navigate by water and the advantage such as dispatch；But existing dynamic positioning system is applied in reality
During have that stationkeeping ability is poor, positioning precision is the highest, the problem such as maintenance is inconvenient.
Summary of the invention
For the problem existing for the ship's fix technology on existing wind power construction ship, the main object of the present invention
It is to provide a kind of ship-positioning system that dynamic positioning ability is strong, positioning precision is high；It is simultaneously based on this boats and ships
Alignment system, also provides for a kind of ship's fix method.
In order to achieve the above object, the present invention adopts the following technical scheme that:
Thering is provided a kind of ship-positioning system for wind power construction ship, this alignment system includes DPI control system
And two groups of full circle swinging propellers, wherein first group of full circle swinging propeller is arranged on the ship stern of wind power construction ship,
Second group of full circle swinging propeller is arranged on the ship bow part of wind power construction ship, and DPI control system controls two groups simultaneously
Full circle swinging propeller.
Preferably, described first group of full circle swinging propeller includes two 1470kW full circle swinging propellers.
Preferably, described two 1470kW full circle swinging propellers are symmetrically mounted on ship stern near port and starboard position,
By driven by motor, propeller rotates in mozzle.
Preferably, described second group of full circle swinging propeller includes two 800kW full circle swinging propellers.
Preferably, described two 800kW full circle swinging propellers are symmetrically mounted on stem near port and starboard position,
By driven by motor, propeller rotates in mozzle.
Preferred described DP1 control system by operating unit, control unit, attitude instrument, anemoclinograph,
DGPS unit forms, and described operating unit controls to connect control unit, and described control unit controls even respectively
Connect attitude instrument, anemoclinograph, DGPS unit and two groups of full circle swinging propellers.
Preferably, described alignment system also includes that two groups of positioning winch, described first group of positioning winch are arranged on
On ship stern deck, described second group of positioning winch is arranged on ship bow part wedge bracket platform.
Preferably, described first group of positioning winch includes 2 positioning winch, and is arranged on ship after-deck；
Described second group of positioning winch includes 2 positioning winch, and is arranged on stem wedge bracket platform.
Based on above-mentioned ship-positioning system, it is provided that a kind of ship's fix method for wind power construction ship, should
Localization method first pass through DP1 control system sets position coordinates that boats and ships will arrive and bow to,
Then automatically boats and ships are moved with rotating speed by controlling turning to of two groups of full circle swinging propellers by DP1 control system
Move appointment position and fix.
Preferably, when under DP1 control system or propeller failure condition, by the location of positioning winch control
Anchor is dished out, and moves to specify position by boats and ships by controlling the tensile force of every winch respectively.
Based on such scheme constitute the ship's fix scheme for wind power construction ship can quickly, the most right
Wind power construction ship positions, and dynamic positioning ability is strong, and operational reliability is high, it is ensured that wind power construction ship
Safe and reliable work.
It addition, this ship's fix scheme low cost, and later period maintenance is convenient, practical.
Accompanying drawing explanation
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 is the schematic diagram of DP1 dynamic positioning system in present example；
Fig. 2 is the layout schematic diagram of full circle swinging propeller and deck winch in present example；
Fig. 3 is Ship Dynamic Positioning Systems Based topological diagram in present example；
Fig. 4 is the dynamic positioning of vessels ability design sketch of ship-positioning system in present example.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect,
Below in conjunction with being specifically illustrating, the present invention is expanded on further.
See the ship-positioning system in this example of Fig. 1 and Fig. 2 and use a set of DP1 dynamic positioning system 100
The scheme matched with 4 40T hydraulic pressure deck winches 200 positions () to wind power construction ship 300.
The program is main to position and wind power construction ship from boat with DP1 dynamic positioning system 100；
In the case of DP1 dynamic positioning system 100 lost efficacy, recycle 4 40T hydraulic pressure deck winches 200
Complete ship's fix and move ship.
See Fig. 1, when realizing, in order to make boats and ships possess good dynamic positioning ability, DP1 in this programme
Dynamic positioning system 100 is main by DP1 control system 101 and two groups of full circle swinging propellers 102,103
Coordinating and constitute, wherein first group of full circle swinging propeller 102 is arranged on the ship stern of wind power construction ship, second group
Full circle swinging propeller 103 is arranged on the ship bow part of wind power construction ship 300, and DP1 control system controls two simultaneously
Group full circle swinging propeller.
See Fig. 2, specifically two 1470kW full circle swinging propeller 102a, 102b, ship are set at ship stern
Bow arranges two 800kW full circle swinging propeller 103a, 103b.
Meanwhile, two 1470kW full circle swinging propeller 102a, 102b are fixed pitch, 4 blades, oar
Leaf diameter 2400mm, blade rotating speed～220rpm, it is symmetrically mounted on ship stern near port and starboard position, by electricity
Machine drives, and propeller rotates in mozzle.
Two 800kW full circle swinging propeller 103a, 103b are fixed pitch, 4 blades, diameter of propeller blade
1800mm, blade rotating speed～220rpm, it is symmetrically mounted on stem near port and starboard position, by driven by motor,
Propeller rotates in mozzle.
The propeller plant thus arranged, relative to spot ship use stern full circle swinging propeller and
Bow uses side to push away the scheme of fixing propeller, has the advantage that:
One, when two 1470kW full circle swinging propellers make to advance not enough, two 800kW full circle swinging spiral shells
Rotation oar may also participate in propelling；
Two, when ship goes to dock, bow, stern all can be as fores, and action is convenient；
Three, two 800kW full circle swinging propellers are compared side to push away fixing oar easy to maintenance.
See Fig. 3, for the DP1 control system 101 in this programme, mainly by operating unit 101a, control
The part composition such as unit 101b processed, attitude instrument 101c, anemoclinograph 101d, DGPS unit 101e.
Wherein, operating unit 101a is the operation center of whole DP1 control system, forms corresponding operation
Instruction.Operating unit in this example includes active station and the Portable remote controller being arranged in bridge control console,
To realize local (bridge control console) operation and Portable remote-control operation.
Control unit 101b is the data processing centre of whole DP1 control system, and it is with operating unit book even
Connect in succession (with active station data cube computation by the way of wired, wirelessly with Portable remote controller number
According to connecting), control to connect four full circle swinging propellers, simultaneously with attitude instrument 101c, anemoclinograph 101d,
DGPS mono-101e data cube computation.
This control unit 101b is after getting the operational order that operating unit is formed, from attitude instrument, wind speed
Anemoscope, DGPS unit obtain the attitude of hull, wind speed and direction data and position data in real time, then
The operational order sent according to operating unit, in conjunction with the Attitude, wind speed and direction and the position that obtain in real time
Calculate in real time etc. data, form the instruction of corresponding Solid rocket engine, and control propeller plant respectively,
To boats and ships, longitudinally, laterally and bow is to the control of three freedoms of motion in realization.
Thus, it is possible not only to this locality (bridge control console) by this DP1 control system 101 and operates,
Angle of rake can turn to and rotating speed by controlling 4 with Portable remote-control such that it is able to realize boats and ships longitudinally,
Laterally and bow is to the manually or automatically control of three freedoms of motion.
Coordinate with above-mentioned DPI dynamic positioning system 100,4 40T hydraulic pressure deck winches in this programme
200 are divided into two groups, and first group of positioning winch includes two 40T hydraulic pressure deck winches 200, symmetrical setting
On ship stern deck 301, second group of positioning winch the most also includes two 40T hydraulic pressure deck winches 200,
Two groups of symmetrical being arranged on ship bow part wedge bracket platform 302.
40T hydraulic pressure deck winch in this example 200 mainly by quantitative low speed high torque hydraulic motor, wall stand,
Deceleration device (band gear house), axle, main drum, clutch, brake etc. form；Its specified pulling force
(third layer) 500KN, holding load 1120KN, rope capacity 600m.
For being divided into 4 40T hydraulic pressure deck winches 200 of two groups, this example is entered by a control system
Row Collaborative Control.This control system is the PLC system of core by using by microprocessor, is implementing
Time, this control system can be independently arranged or by the operating unit 101a in DP1 control system 101 and control
Unit 101b cooperation realizes controlling function.
This example realizes safe, reliable and effective control function by PLC system, simultaneously by 4
Platform deck winch is separately positioned on ship stern deck and ship bow part wedge bracket platform, decreases and can use deck
Taking of area.
The ship-positioning system constituted based on such scheme, applies on wind power construction ship, can realize wind-powered electricity generation and execute
The dynamic positioning of work ship and shifting ship.
In the case of DP1 control system and propeller are all normal, first pass through in DP1 control system
Operating unit, set position coordinates that boats and ships will arrive and bow to；
Operating unit to information, forms corresponding operational order according to the position coordinates of arrival arranged and bow,
And reach the control unit in DP1 control system；
Control unit in DP1 control system is real-time from attitude instrument, anemoclinograph and DGPS unit
Obtain the attitude information (such as stem direction) of current wind power construction ship, current wind speed and direction and current
The information such as the position of wind power construction ship, control unit obtain from operational order the position coordinates of arrival and bow to
Etc. information, further according to the attitude information of current wind power construction ship got, wind speed and direction and current wind
The information such as the position of electricity workboat calculate, and determine optimal travel route and mode, thereby determine that current
Turning to and rotating speed of 4 propellers, and form the control instruction of correspondence；
Control unit according to the control instruction formed independently control in real time 4 propellers, to adjust in real time
Turning to and rotating speed of whole each propeller, drives wind power construction ship with optimal travel route and mode towards setting
Fixed in-position coordinate and bow are to movement.
Thus, by controlling in real time the turning to rotating speed automatically by mooring stability, quickly move of 4 propellers
To specifying position and fixing；The most also it is manually operable DP1 control system to be moved to by boats and ships simultaneously
Specify position.
When under DP1 control system or propeller failure condition, can be by determining that 4 platform deck winches control respectively
Position anchor is dished out, and moves to specify position by boats and ships by controlling the tensile force of every winch respectively.
Two kinds of alignment systems with the use of, not only increase efficiency and the precision of ship's fix, also improve peace
Quan Xing, reliability.
When this ship-positioning system is applied on wind power construction ship, there is good dynamic positioning ability, at wave
In the case of high 2.0m, surface velocity 2kn, 4 propellers all work, dynamic positioning ability checks knot
Really (wind speed reached) as shown in Figure 4.
It addition, cooperation ship-positioning system, corresponding Ship Power Equipment uses four 1800kW/690V
Electromotor and a 500kW/380V generating set, diesel engine uses MAN B&W middling speed (1000rpm)
Machine, its oil consumption 192g/kW.h, lower than conventional high speed machine oil consumption 210g/kW.h, so can drop
Oil consumption cost in low use.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The industry
Skilled person will appreciate that, the present invention is not restricted to the described embodiments, in above-described embodiment and description
The principle that the present invention is simply described described, without departing from the spirit and scope of the present invention, the present invention
Also having various changes and modifications, these changes and improvements both fall within scope of the claimed invention.This
The claimed scope of invention is defined by appending claims and equivalent thereof.
Claims (10)
1. the ship-positioning system for wind power construction ship, it is characterised in that described alignment system includes
DP1 control system and two groups of full circle swinging propellers；Wherein first group of full circle swinging propeller is arranged on wind-powered electricity generation and executes
The ship stern of work ship, second group of full circle swinging propeller is arranged on the ship bow part of wind power construction ship, and DP1 controls system
System controls two groups of full circle swinging propellers simultaneously.
A kind of ship-positioning system for wind power construction ship the most according to claim 1, its feature exists
In, described first group of full circle swinging propeller includes two 1470kW full circle swinging propellers.
A kind of ship-positioning system for wind power construction ship the most according to claim 2, its feature exists
It is symmetrically mounted on ship stern near port and starboard position, by motor in, described two 1470kW full circle swinging propellers
Driving, propeller rotates in mozzle.
A kind of ship-positioning system for wind power construction ship the most according to claim 1, its feature exists
In, described second group of full circle swinging propeller includes two 800kW full circle swinging propellers.
A kind of ship-positioning system for wind power construction ship the most according to claim 4, its feature exists
It is symmetrically mounted on stem near port and starboard position, by motor in, described two 800kW full circle swinging propellers
Driving, propeller rotates in mozzle.
A kind of ship-positioning system for wind power construction ship the most according to claim 1, its feature exists
In, described DP1 control system is by operating unit, control unit, attitude instrument, anemoclinograph, DGPS
Unit forms, and described operating unit controls to connect control unit, and described control unit controls to connect attitude respectively
Instrument, anemoclinograph, DGPS unit and two groups of full circle swinging propellers.
A kind of ship-positioning system for wind power construction ship the most according to claim 1, its feature
Being, described alignment system also includes that two groups of positioning winch, described first group of positioning winch are arranged on ship stern
On deck, described second group of positioning winch is arranged on ship bow part wedge bracket platform.
A kind of ship-positioning system for wind power construction ship the most according to claim 7, its feature
Being, described first group of positioning winch includes two winches, and is arranged on ship stern deck；Described second
Group positioning winch includes two winches, and is arranged on ship bow part wedge bracket platform.
9. the ship's fix method for wind power construction ship, it is characterised in that described localization method is first
First pass through DP1 control system sets position coordinates that boats and ships will arrive and bow to, then by DP1
Boats and ships are moved to specific bit by controlling turning to of two groups of full circle swinging propellers with rotating speed by control system automatically
Put and fix.
A kind of ship's fix method for wind power construction ship the most according to claim 9, its feature
It is, when, under DP1 control system or propeller failure condition, the location anchor that positioning winch controls being dished out,
Move to specify position by boats and ships by controlling the tensile force of every winch respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200598.8A CN105857521B (en) | 2016-03-31 | 2016-03-31 | A kind of ship-positioning system and method for wind power construction ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200598.8A CN105857521B (en) | 2016-03-31 | 2016-03-31 | A kind of ship-positioning system and method for wind power construction ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105857521A true CN105857521A (en) | 2016-08-17 |
| CN105857521B CN105857521B (en) | 2019-03-19 |
Family
ID=56627817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610200598.8A Active CN105857521B (en) | 2016-03-31 | 2016-03-31 | A kind of ship-positioning system and method for wind power construction ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105857521B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941419A (en) * | 2019-03-18 | 2019-06-28 | 江苏华西村海洋工程服务有限公司 | Construction method of the offshore wind farm construction ship based on DP module |
| CN110239675A (en) * | 2019-05-13 | 2019-09-17 | 自然资源部第一海洋研究所 | A kind of scientific surveying ship of achievable low speed, constant speed towing operation |
| CN110254633A (en) * | 2019-05-06 | 2019-09-20 | 中交第二航务工程局有限公司 | A kind of stone dumper automatic shift control system and control method |
| CN110254676A (en) * | 2019-05-13 | 2019-09-20 | 自然资源部第一海洋研究所 | A kind of control system for assisting scientific investigation ship realization low speed towing operation using DP |
| CN110949646A (en) * | 2020-01-02 | 2020-04-03 | 上海振华重工(集团)股份有限公司 | Propelling electric control system and electric control method for tunnel immersed tube transportation and installation engineering ship |
| CN112888625A (en) * | 2018-09-18 | 2021-06-01 | 施维策股份有限公司 | Hydraulic generator set for tugboat |
| CN115640708A (en) * | 2022-12-23 | 2023-01-24 | 上海振华重工启东海洋工程股份有限公司 | Design method of hydraulic electric control system for ultra-large piling ship |
| CN116443217A (en) * | 2023-06-16 | 2023-07-18 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3422783A (en) * | 1966-02-09 | 1969-01-21 | Inst Francais Du Petrole | Device for automatically positioning a floating installation by means of moorings with controlled tension |
| CN101544269A (en) * | 2008-03-24 | 2009-09-30 | 南通力威机械有限公司 | Mooring automatic positioning system for offshore operation platform |
| CN103129729A (en) * | 2013-01-28 | 2013-06-05 | 中交天津航道局有限公司 | Thrust distribution optimizing method for power positioning system of dredge boat |
| CN103507938A (en) * | 2013-09-12 | 2014-01-15 | 南通明德重工有限公司 | Power positioning system of platform supply ship |
| CN204871481U (en) * | 2015-06-27 | 2015-12-16 | 中国石油大学(华东) | Semi -submerged formula platform power positioning system |
| CN105216975A (en) * | 2015-10-19 | 2016-01-06 | 宏华海洋油气装备（江苏）有限公司 | Carry the workover platform of thrust power position fixing system |
-
2016
- 2016-03-31 CN CN201610200598.8A patent/CN105857521B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3422783A (en) * | 1966-02-09 | 1969-01-21 | Inst Francais Du Petrole | Device for automatically positioning a floating installation by means of moorings with controlled tension |
| CN101544269A (en) * | 2008-03-24 | 2009-09-30 | 南通力威机械有限公司 | Mooring automatic positioning system for offshore operation platform |
| CN103129729A (en) * | 2013-01-28 | 2013-06-05 | 中交天津航道局有限公司 | Thrust distribution optimizing method for power positioning system of dredge boat |
| CN103507938A (en) * | 2013-09-12 | 2014-01-15 | 南通明德重工有限公司 | Power positioning system of platform supply ship |
| CN204871481U (en) * | 2015-06-27 | 2015-12-16 | 中国石油大学(华东) | Semi -submerged formula platform power positioning system |
| CN105216975A (en) * | 2015-10-19 | 2016-01-06 | 宏华海洋油气装备（江苏）有限公司 | Carry the workover platform of thrust power position fixing system |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112888625A (en) * | 2018-09-18 | 2021-06-01 | 施维策股份有限公司 | Hydraulic generator set for tugboat |
| CN109941419A (en) * | 2019-03-18 | 2019-06-28 | 江苏华西村海洋工程服务有限公司 | Construction method of the offshore wind farm construction ship based on DP module |
| CN110254633A (en) * | 2019-05-06 | 2019-09-20 | 中交第二航务工程局有限公司 | A kind of stone dumper automatic shift control system and control method |
| CN110254633B (en) * | 2019-05-06 | 2023-09-08 | 中交第二航务工程局有限公司 | Automatic displacement control system and control method for stone throwing ship |
| CN110239675A (en) * | 2019-05-13 | 2019-09-17 | 自然资源部第一海洋研究所 | A kind of scientific surveying ship of achievable low speed, constant speed towing operation |
| CN110254676A (en) * | 2019-05-13 | 2019-09-20 | 自然资源部第一海洋研究所 | A kind of control system for assisting scientific investigation ship realization low speed towing operation using DP |
| CN110239675B (en) * | 2019-05-13 | 2021-06-01 | 自然资源部第一海洋研究所 | Scientific investigation ship capable of realizing low-speed and constant-speed towing operation |
| CN110949646A (en) * | 2020-01-02 | 2020-04-03 | 上海振华重工(集团)股份有限公司 | Propelling electric control system and electric control method for tunnel immersed tube transportation and installation engineering ship |
| CN115640708A (en) * | 2022-12-23 | 2023-01-24 | 上海振华重工启东海洋工程股份有限公司 | Design method of hydraulic electric control system for ultra-large piling ship |
| CN115640708B (en) * | 2022-12-23 | 2023-03-10 | 上海振华重工启东海洋工程股份有限公司 | Design method of hydraulic electric control system for ultra-large piling ship |
| CN116443217A (en) * | 2023-06-16 | 2023-07-18 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
| CN116443217B (en) * | 2023-06-16 | 2023-08-22 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105857521B (en) | 2019-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105857521B (en) | A kind of ship-positioning system and method for wind power construction ship | |
| US4371346A (en) | System for propulsion of boats by means of winds and streams and for recovery of energy | |
| US6918350B1 (en) | Sea-based hydrogen-oxygen generation system | |
| WO2016007076A1 (en) | Multi-turbine wind power platform for offshore applications | |
| JP2000211585A (en) | Wind power utilizing boat | |
| US20140378012A1 (en) | Vessel | |
| CN109017181A (en) | A kind of small-scale underwater vehicle device carriage by air is laid and recovery system | |
| CN101439758A (en) | Dynamic positioning thrust system for Z propeller and elevating rudder | |
| Stelzer et al. | History and recent developments in robotic sailing | |
| Rutkowski | Study of Green Shipping Technologies-Harnessing Wind, Waves and Solar Power in New Generation Marine Propulsion Systems | |
| CA3094572A1 (en) | Method for controlling a towing train | |
| CN202486622U (en) | Ship positioning system | |
| US20030220027A1 (en) | Wave powered cyclic anchoring itinerant ship propulsion system | |
| CN101028856A (en) | Helmless fast semi-submarine ship with multi-bodies | |
| CN214451663U (en) | Overwater pole type equipment system | |
| EP3145804B1 (en) | Unmanned surface vehicle | |
| US9957017B2 (en) | Expandable floating structure | |
| Zhang et al. | Energy consumption of a sailing quad-maran automated vessel | |
| US8887652B1 (en) | Sail propulsion device for cargo and tanker vessels | |
| JP2013002399A (en) | Ocean wind power generation wind turbine unflowing by wind even without mooring to sea bottom, by using a part of wind power for windward propulsion | |
| JP2008087526A (en) | Steering system of working ship using tow boat | |
| CN108973559A (en) | A kind of empty amphibious five body constituents unmanned boat of water | |
| US9120537B1 (en) | Sail propulsion device for cargo and tanker vessels | |
| JP2018099903A (en) | Hybrid outboard motor and ship position retaining function type ship | |
| Piaggio et al. | Manoeuvring model and simulation of the non-linear dynamic interaction between tethered ship and tug during escort |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |