CN107991070B - A kind of method of real-time of anchoring marine structure anchor chain fracture - Google Patents
A kind of method of real-time of anchoring marine structure anchor chain fracture Download PDFInfo
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- CN107991070B CN107991070B CN201711042684.1A CN201711042684A CN107991070B CN 107991070 B CN107991070 B CN 107991070B CN 201711042684 A CN201711042684 A CN 201711042684A CN 107991070 B CN107991070 B CN 107991070B
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- 238000004873 anchoring Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 238000004519 manufacturing process Methods 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 claims description 5
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- 238000009434 installation Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000000446 fuel Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention belongs to be applied to field of ocean engineering, a kind of method of real-time of anchoring marine structure anchor chain fracture especially provides a kind of method of real-time of anchoring marine structure anchor chain fracture based on faults-tolerant control and global position system.The present invention does not need installation additional sensors, cheap, it is only necessary to carry out software upgrading to existing equipment.Therefore, on the basis of not needing substantial contribution additional investment, 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.For being mounted with the marine structure of anchor chain rupture sensors, this method can be used as candidate scheme to improve the redundancy and stability of whole monitoring system.
Description
Technical field
The invention belongs to be applied to field of ocean engineering, in particular to be a kind of based on faults-tolerant control and satellite
The method of real-time of the anchoring marine structure anchor chain fracture of position system.
Background technique
Anchor chain fracture betides anchoring marine structure extensively, causes huge potential prestige to manipulation and production safety
The side of body.Therefore ocean operation and production risk can be effectively reduced in the fracture of real-time monitoring anchor chain, improves safety.Although anchor chain is broken
Can be detected by the sensor being connected on anchor chain, however these additional sensors considerably increase engineering-built at
This.With the development and extensive use of the global positioning systems such as such as GPS, Beidou.It is based on defending the object of the present invention is to provide one kind
The real-time fracture monitoring method of star positioning system.This method can be applied not only to anchoring auxiliary power positioning system, can also answer
Ocean platform is only reached for upgrading traditional passive anchored vessel.
Summary of the invention
The present invention proposes a kind of reality of anchoring marine structure anchor chain fracture based on faults-tolerant control and global position system
When monitoring method.
Technical solution of the present invention:
A kind of method of real-time of anchoring marine structure anchor chain fracture, based on faults-tolerant control and global position system
The method of real-time that the marine structure anchor chain that anchors is broken, steps are as follows:
Hardware system used in the method for real-time includes satellite positioning module, gesture module, signal acquisition module, biography
Defeated module, several ocean anchored structure object 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 blower；
The satellite positioning module is Beidou 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 determine the real time position of anchoring marine structure by sensor；
The gesture module is the sensor of measurement anchoring marine structure attitude angle, such as gyroscope；
Signal acquisition module is used to acquire the signal of satellite positioning module and gesture module output；
The collected signal of signal acquisition module is transferred to computing module by transmission 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 object dynamic analysis model acquires 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 known anchoring 2 position of marine structure, the underwater position of anchor 6 and anchor chain 5 is then right according to anchor chain 5
The tension curve answered estimates the tension of this moment anchor chain 5；
(2) assume that anchoring marine structure 2 is equipped with N root anchor chain 5, then need that N+1 observer is arranged, wherein N number of observation
Device respectively corresponds N root anchor chain 5, and observer 0 is used to observe the real-time status of 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 beeiAs ODEInput,μ is obtained after integrali, wherein | |2Indicate 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 obtain；If anchor chain does not break
It splits, 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 observer M output observationClosest to the measured value y, corresponding μ of satellite positioning moduleMIt is minimum；If most
Small value μMMeet (1+h) μM≤μ0, then show that anchor chain M is broken, wherein what h > 0 was the value of a debugging to improve judgement can
By property.
Beneficial effects of the present invention: the present invention do not need installation additional sensors, it is cheap, it is only necessary to existing equipment into
Row software upgrading.Therefore, on the basis of not needing substantial contribution additional investment, 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 be used as candidate scheme to improve the redundancy of whole monitoring system and steady
It is qualitative.
Detailed description of the invention
Fig. 1 is the side view of catenary anchored structure object.
Fig. 2 is the top view of catenary anchored structure object.
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.
Specific embodiment
Below in conjunction with attached drawing and technical solution, a specific 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, steps 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 and anchoring marine structure are connected by capstan head thereon
It connects, capstan head is installed in the fairlead of anchoring marine structure；If the parameter of anchor chain and its in the fixed position in seabed it is known that
Using the position of anchoring marine structure, then restoring force caused by an anchor chain can be substantially estimated according to catenary equation.
Comprehensively considering restoring force provided by whole anchor chains then approximate can obtain restoring force suffered by whole system.
(2) consider that the anchoring marine structure there are 4 anchor chains, then this method needs while running 5 observers.Observer
0 corresponds to all unbroken situations of anchor chain, and restoring force provided by anchor chain is the superposition of all 4 anchor chain restoring forces.Observer i
The case where (i=1 ... 4) corresponding i-th anchor chain is broken, 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 integrali.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, μ0Raising and μ1It reduces, obtains μ0=20, μ1
=2.After about 20 seconds, as new minimum value μ1Meet 1.3 μ1≤μ0, logic jump module identify anchor chain 1 be broken, prompt
Operator.Numerical simulation result such as Fig. 4 (a) and Fig. 4 (b).
Claims (1)
1. a kind of method of real-time of anchoring marine structure anchor chain fracture, which is characterized in that steps are as follows:
The anchoring marine structure include floating production storage unit, dynamically-positioned drill ship, working ship, floating power station,
Tension leg platform (TLP) and floating blower；
Hardware system used in the method for real-time includes satellite positioning module, gesture module, signal acquisition module, transmission mould
Block, several ocean anchored structure object dynamic analysis models and computing module；
The satellite positioning module is Beidou or GPS, installs dynamic positioning system, dynamic positioning system in the marine structure that anchors
The inertial navigation system included of uniting and global position system determine 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 to acquire the signal of satellite positioning module and gesture module output；
The collected signal of signal acquisition module is transferred to computing module by the transmission 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 under different situations to anchor and ties
The signal that structure object dynamic analysis model acquires 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 object 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 of this moment anchor chain (5)；
(2) assume that anchoring marine structure (2) is equipped with N root anchor chain (5), then need to be arranged N+1 observer, observer 1 ... N divides
The N that do not correspond to anchor chain (5) 1 ..., observer 0 are used to observe the real-time status of 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 integrali, wherein | |2Indicate 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 obtain；If anchor chain does not break
It splits, 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 observer M output observationClosest to the measured value y, corresponding μ of satellite positioning moduleMIt is minimum；If most
Small value μMMeet (1+h) μM≤μ0, then show that anchor chain M is broken, wherein what h > 0 was the value of a debugging to improve judgement can
By property.
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| 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 |
| CN110057569B (en) * | 2019-05-26 | 2024-05-03 | 江苏佳华机械科技有限公司 | Anchor chain performance test tool |
| 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 |
| 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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| GB0617716D0 (en) * | 2006-09-08 | 2006-10-18 | Qinetiq Ltd | Mooring failure detection |
| CN201233308Y (en) * | 2008-06-20 | 2009-05-06 | 中国矿业大学 | Cable stretching destructive test device |
| CN104064056A (en) * | 2014-07-04 | 2014-09-24 | 王涌 | Anchor dragging early-warning system based on anchor chain vibration frequency analysis |
| CN204831675U (en) * | 2015-04-29 | 2015-12-02 | 湖南科技大学 | Marine floating fan anchoring system fracture inefficacy forecast system |
| CN106005264B (en) * | 2016-05-12 | 2018-04-17 | 哈尔滨工程大学 | Drilling platforms propeller auxiliary anchoring system based on automatic monitoring |
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