CN107991070A - A kind of method of real-time for marine structure anchor chain fracture of anchoring - Google Patents
A kind of method of real-time for marine structure anchor chain fracture of anchoring Download PDFInfo
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- CN107991070A CN107991070A CN201711042684.1A CN201711042684A CN107991070A CN 107991070 A CN107991070 A CN 107991070A CN 201711042684 A CN201711042684 A CN 201711042684A CN 107991070 A CN107991070 A CN 107991070A
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Abstract
The invention belongs to applied to field of ocean engineering, a kind of method of real-time for marine structure anchor chain fracture of anchoring, especially provides a kind of method of real-time of the anchoring marine structure anchor chain fracture based on faults-tolerant control and global position system.The present invention need not install additional sensors, cheap, it is only necessary to carry out software upgrading to existing equipment.Therefore, on the basis of the extra input of substantial contribution is not required, this method, which improves high degree, is equipped with anchor chain fracture algorithm offshore production facilities and ship quantity, greatly improves ocean production and safe operation.Marine structure for being mounted with anchor chain rupture sensors, this method can improve the redundancy of whole monitoring system and stability as candidate scheme.
Description
Technical field
The invention belongs to applied to field of ocean engineering, more particularly to be a kind of to be based on faults-tolerant control and satellite
The method of real-time of the anchoring marine structure anchor chain fracture of position system.
Background technology
Anchor chain fracture betides anchoring marine structure extensively, it causes huge potential prestige to manipulation and production safety
The side of body.Therefore the fracture of monitoring anchor chain can effectively reduce ocean operation and production risk in real time, improve security.Although anchor chain is broken
Can be detected by the sensor being connected on anchor chain, however these extra sensors considerably increase engineering-built into
This.With the development and extensive use of such as global positioning system such as GPS, the Big Dipper.It is based on defending the object of the present invention is to provide one kind
The real-time fracture monitoring method of star alignment system.This method can be applied not only to anchoring auxiliary power alignment system, can also answer
Ocean platform is only reached for upgrading traditional passive anchored vessel.
The content of the invention
The present invention proposes a kind of reality of the anchoring marine structure anchor chain fracture based on faults-tolerant control and global position system
When monitoring method.
Technical scheme：
A kind of method of real-time for marine structure anchor chain fracture of anchoring, based on faults-tolerant control and global position system
Anchor the method for real-time that marine structure anchor chain is broken, and step is as follows：
Hardware system used in the method for real-time includes satellite positioning module, gesture module, signal acquisition module, biography
Defeated module, some ocean anchored structure thing dynamic analysis models and computing module；
The anchoring marine structure includes floating/production Fuel Tanking Unit, dynamically-positioned drill ship, working ship, floating
Power station, tension leg platform (TLP) and floating wind turbine；
The satellite positioning module is the Big Dipper or GPS, installs dynamic positioning system in the marine structure that anchors, power is fixed
Inertial navigation system and global position system that position system includes judge the real time position of anchoring marine structure by sensor；
The gesture module for measurement anchoring marine structure attitude angle sensor, such as gyroscope；
Signal acquisition module is used for the signal for gathering satellite positioning module and gesture module output；
Transport module is by the signal transmission that signal acquisition module collects to computing module；
Computing module includes observer group module, signal monitoring module and logic jump module；
Observer group module is made of several observers, and each observer utilizes the ocean anchored structure under different situations
The signal that thing dynamic analysis model gathers signal acquisition module is filtered and observes, and exports observation, observer group
Module exports a group observations；
Signal monitoring module is using a group observations of output, and output is for logic jump module judgement anchoring marine structure
The signal of current context；
Logic jump module judges according to the signal that signal monitoring module exports and exports corresponding situation at this time；
The anchoring method includes gravity-type catenary and tension type.
(1) length of 2 position of known anchoring marine structure, 6 underwater position of anchor and anchor chain 5 is then right according to anchor chain 5
The tension curve answered, estimates the tension force of this moment anchor chain 5；
(2) assume that anchoring marine structure 2 is equipped with N roots anchor chain 5, then need to set N+1 observer, wherein, N number of observation
Device corresponds to N roots anchor chain 5 respectively, and observer 0 is used for the real-time status for observing whole anchor chains 5；
(3) position using observer group module estimation anchoring marine structure and turn head, the measurement of satellite positioning module
The observation of value y and each observerDifference beI=1 ... N；eiAs ODEInput,μ is obtained after integrationi, wherein, | |2Represent two norm of euclidean；In usual feelings
Under condition, observer 0 works, remaining N number of observer runs on backstage；λ and μiInitial value by debugging draw；If anchor chain does not break
Split, then the observed result of observer 0Closest to the measured value y of satellite positioning module, then μ0It is minimum；When anchor chain M occurs to break
When splitting, then M output observationClosest to the measured value y of satellite positioning module, its corresponding μMIt is minimum；If minimum value μM
Meet (1+h) μM≤μ0, then show that anchor chain M is broken, wherein, h>0 improves the reliability of judgement for the value of a debugging.
Beneficial effects of the present invention：The present invention need not install additional sensors, cheap, it is only necessary to existing equipment into
Row software upgrading.Therefore, on the basis of the extra input of substantial contribution is not required, high degree is improved and is equipped with anchor by this method
Chain is broken algorithm offshore production facilities and ship quantity, greatly improves ocean production and safe operation.For being mounted with anchor
The marine structure of chain rupture sensors, this method can improve the redundancy of whole monitoring system and steady as candidate scheme
It is qualitative.
Brief description of the drawings
Fig. 1 is the side view of catenary anchored structure thing.
Fig. 2 is the top view of catenary anchored structure thing.
Fig. 3 is monitoring method schematic diagram.
Fig. 4 (a) is the instance graph of monitoring signals of the present invention.
Fig. 4 (b) is the instance graph of anchor chain crack conditions of the present invention.
In figure：1 sea level；2 anchoring marine structures；3 capstan heads；4 fairleads；5 anchor chains；6 anchors；7 sea beds.
Embodiment
Below in conjunction with attached drawing and technical solution, embodiment of the invention is further illustrated.Based on faults-tolerant control and
The method of real-time of the anchoring marine structure anchor chain fracture of global position system, step are as follows：
(1) by taking GPS and floating production storage unit as an example, the anchoring marine structure is by 4 anchor chains and dynamic positioning system
Altogether with auxiliary positioning in certain safe operation range, therefore N=4.Anchor chain 5 is connected with anchoring marine structure by capstan head thereon
Connect, capstan head is installed in the fairlead of anchoring marine structure；If the parameter of anchor chain and its seabed fix position it is known that
Using the position for the marine structure that anchors, then restoring force caused by an anchor chain can be substantially estimated according to catenary equation.
Considering the restoring force that whole anchor chains are provided then approximate can obtain the restoring force suffered by whole system.
(2) consider that the anchoring marine structure there are 4 anchor chains, then this method needs to run 5 observers at the same time.Observer
0 corresponds to all unbroken situations of anchor chain, and the restoring force that anchor chain is provided is the superposition of all 4 anchor chain restoring forces.Observer i
The situation of (i=1 ... 4) corresponding i-th anchor chain fracture, total restoring force are returning for the whole anchor chains of residue of i-th anchor chain of removing
The superposition of multiple power.
(3) GPS measurement y and each observer observationDifference beeiAs normal
The differential equationInput,μ is obtained after integrationi.λ=0.1, h=0.3, μiInitial value take 15.Such as
Anchor chain is unbroken, then observed resultClosest to GPS measurement, then μ0Minimum, μ0=2, μ1…μ4≈20.Anchor chain 1 was in 250 seconds
It is broken.By the observation of observer group, signal monitoring module output signal μ, μ0Rise and μ1Reduce, obtain μ0=20, μ1
=2.After about 20 seconds, as new minimum value μ1Meet 1.3 μ1≤μ0, logic jump module identifies that anchor chain 1 is broken, and prompts
Operating personnel.Numerical simulation result such as Fig. 4 (a) and Fig. 4 (b).
Claims (1)
1. a kind of method of real-time for marine structure anchor chain fracture of anchoring, it is characterised in that step is as follows：
The anchoring marine structure include floating/production Fuel Tanking Unit, dynamically-positioned drill ship, working ship, floating power station,
Tension leg platform (TLP) and floating wind turbine；
Hardware system used in the method for real-time includes satellite positioning module, gesture module, signal acquisition module, transmission mould
Block, some ocean anchored structure thing dynamic analysis models and computing module；
The satellite positioning module is the Big Dipper or GPS, and dynamic positioning system, dynamic positioning system are installed in the marine structure that anchors
The inertial navigation system included of uniting and global position system judge the real time position of anchoring marine structure by sensor；
The gesture module is the sensor of measurement anchoring marine structure attitude angle；
The signal acquisition module is used for the signal for gathering satellite positioning module and gesture module output；
The transport module is by the signal transmission that signal acquisition module collects to computing module；
The computing module includes observer group module, signal monitoring module and logic jump module；
The observer group module is made of several observers, and each observer utilizes the ocean anchoring knot under different situations
The signal that structure thing dynamic analysis model gathers signal acquisition module is filtered and observes, and exports observation, observer
Group module exports a group observations；
The signal monitoring module is using a group observations of output, and output is for logic jump module judgement anchoring ocean structure
The signal of thing current context；
The logic jump module judges according to the signal that signal monitoring module exports and exports corresponding situation at this time；
(1) length of known anchoring marine structure (2) position, the underwater position of anchor (6) and anchor chain (5), then according to anchor chain
(5) corresponding tension curve, estimates the tension force of this moment anchor chain (5)；
(2) assume that anchoring marine structure (2) is equipped with N roots anchor chain (5), then need to set N+1 observer, wherein, N number of observation
Device corresponds to N roots anchor chain (5) respectively, and observer 0 is used for the real-time status for observing whole anchor chains (5)；
(3) using observer group module estimation anchoring marine structure position and turn head, the measured value y of satellite positioning module with
The observation of each observerDifference beI=1 ... N；eiAs ODEInput,μ is obtained after integrationi, wherein, | | 2 represent two norm of euclidean；In usual feelings
Under condition, observer 0 works, remaining N number of observer runs on backstage；λ and μiInitial value by debugging draw；If anchor chain does not break
Split, then the observed result of observer 0Closest to the measured value y of satellite positioning module, then μ0It is minimum；When anchor chain M occurs to break
When splitting, then M output observationClosest to the measured value y of satellite positioning module, its corresponding μMIt is minimum；If minimum value μM
Meet (1+h) μM≤μ0, then show that anchor chain M is broken, wherein, h>0 improves the reliability of judgement for the value of a debugging.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791709A (en) * | 2018-05-23 | 2018-11-13 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Integrated type monitoring chain link for underwater mooring apparatus |
| CN110057569A (en) * | 2019-05-26 | 2019-07-26 | 江苏佳华机械科技有限公司 | Anchor chain performance test tooling |
| CN111122142A (en) * | 2020-01-14 | 2020-05-08 | 浙江大学 | Experimental device and method for researching dynamic response and flow field characteristics of anchor chain under cyclic motion |
| CN113865648A (en) * | 2021-09-28 | 2021-12-31 | 广东电网有限责任公司 | Wave energy device anchor chain fracture monitoring method, device, equipment and medium |
| CN117054043A (en) * | 2023-10-11 | 2023-11-14 | 国家海洋技术中心 | Test device for offshore floating photovoltaic power generation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108791709A (en) * | 2018-05-23 | 2018-11-13 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Integrated type monitoring chain link for underwater mooring apparatus |
| CN108791709B (en) * | 2018-05-23 | 2019-09-03 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Integrated type monitoring chain link for underwater mooring apparatus |
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| CN111122142A (en) * | 2020-01-14 | 2020-05-08 | 浙江大学 | Experimental device and method for researching dynamic response and flow field characteristics of anchor chain under cyclic motion |
| CN111122142B (en) * | 2020-01-14 | 2023-12-19 | 浙江大学 | Experimental device and method for researching dynamic response and flow field characteristics of anchor chain under cyclic motion |
| CN113865648A (en) * | 2021-09-28 | 2021-12-31 | 广东电网有限责任公司 | Wave energy device anchor chain fracture monitoring method, device, equipment and medium |
| CN113865648B (en) * | 2021-09-28 | 2022-07-15 | 广东电网有限责任公司 | Wave energy device anchor chain fracture monitoring method, device, equipment and medium |
| CN117054043A (en) * | 2023-10-11 | 2023-11-14 | 国家海洋技术中心 | Test device for offshore floating photovoltaic power generation system |
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