CN109436225A - Keep the method and device of relative position between bow orientation and floating body and ship - Google Patents
Keep the method and device of relative position between bow orientation and floating body and ship Download PDFInfo
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- CN109436225A CN109436225A CN201811468350.5A CN201811468350A CN109436225A CN 109436225 A CN109436225 A CN 109436225A CN 201811468350 A CN201811468350 A CN 201811468350A CN 109436225 A CN109436225 A CN 109436225A
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- steamer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B2035/448—Floating hydrocarbon production vessels, e.g. Floating Production Storage and Offloading vessels [FPSO]
Abstract
The present invention relates to a kind of method and devices of relative position between holding bow orientation and floating body and ship.Include: the sensor that ambient conditions data locating for the most detection floating bodies are set on floating body, acquires the status data of ambient enviroment locating for the floating body in real time；The status data of ambient enviroment locating for the floating body acquired according to annual different time sections or season constructs floating body historical environment database.
Description
Technical field
The present invention relates to a kind of for keeping relative position between the bow orientation of shuttle tanker, and holding floating body and ship
Method and device, this method and device are particularly suitable for the liquid fortune that navigation target is marine fixed platform or floating platform
Defeated ship (such as shuttle tanker).
Background technique
In subsea production petroleum system, ocean platform is frequently used as floating body.General float type offshore oil is raw
Production storage, which takes on equipment, FPSO:, in recent years, compared with FPSO, it is floating that the superior MPSO of movenent performance proposes single column
The concepts such as trip formula production system.MPSO is specifically the floating body of cylinder or polygon, stores the petroleum wherein produced.
In order to which liquid storage safety is transported to shuttle cargo ship with easily outer, offshore platform and works with liquid storage function
(such as FPSO) needs to be arranged outer defeated system.For example, the existing 8 inner cupola single point moorings ship shape FPSO of marginal basins, is all made of often
The Mooring Arrangements that rule shuttle tanker string leans on mention oil.Shuttle tanker mooring has one in the stern of FPSO hull, the stern of shuttle tanker
Tail tugboat is dilatory to keep certain tension, so that the hull of shuttle tanker and ship shape FPSO is under the effect of weathercock effect, altogether
Rotation is realized centered on turret single point within, can exceed that 360 ° within angle one day of rotation.
It is well known that shuttle tanker weathercock effect is the size and Orientation and tail of the resultant force formed by wind wave flow action
The size and Orientation for the mooring tension that tugboat is applied is coefficient as a result, making the stem orientation of shuttle tanker always by upper
It states environment and resultant force that mooring is collectively formed determines.For condition of according with one's environment as far as possible, fairlead (mooring point) is used as weathercock
The central point of effect revolution, orientation and position should be determined according to the environmental condition locating for platform；And environmental condition is at any time
Between section or season regularly change.Sea area where only getting clear is pinpointed in annual different time sections or season mooring Mr. Yu one
Shuttle tanker weathercock effect rule, and accordingly come determine revolution single point mooring's transfusion system mooring point, such as fairlead
The installation position and position of (device) in platform, the system could be operated effectively.
If transverse movement will occur, lead in addition, MPSO starts the phenomenon that VIM (swashing movement in ocean platform whirlpool) occur
The line that berths (or the compound line that berths being made of chain, synthetic fiber cable) of MPSO is caused also to move, so if shuttling at this time
Oil tanker is close from MPSO, it is possible to berth will shuttle on line in addition shuttle tanker be also possible to occur and MPSO phase
The risk hit；In contrast, if shuttle tanker is far from MPSO at this time, it is possible to produce the danger of hoses leak petroleum.
To sum up, shuttle tanker must keep bow orientation appropriate, while must also keep between floating body (such as MPSO)
Relative position.
Summary of the invention
The purpose of the present invention is to provide it is a kind of holding bow orientation and floating body and ship between relative position method and
Device.
The technical solution of the present invention is as follows: a kind of method for keeping relative position between bow orientation and floating body and ship, packet
It includes:
The sensor of ambient conditions data locating for the most detection floating bodies is set on floating body, acquires institute in real time
State the status data of ambient enviroment locating for floating body；
The status data of ambient enviroment locating for the floating body acquired according to annual different time sections or season constructs floating body
Historical environment database；
The sensor of ambient conditions data locating for the most detection steamers is set on steamer, acquires institute in real time
State the status data of ambient enviroment locating for steamer；
The status data of ambient enviroment locating for the steamer acquired according to annual different time sections or season constructs steamer
Historical environment database；
The data of acquisition steamer bow and steamer orientation in real time；
Steamer ship is constructed according to the data of annual different time sections or the season steamer bow acquired and steamer orientation
First and steamer orientation historical data base；
The data in acquisition floating body orientation in real time；
Floating body side is constructed according to the data of annual different time sections or the season steamer bow acquired and steamer orientation
Position historical data base；
Floating body orientation computing module and floating body orientation control module are set on the floating body, and the floating body orientation calculates mould
Block is used for according to described from the floating body historical environment database, steamer historical environment database, steamer bow and wheel ship
The data of position historical data base and floating body orientation historical data base, in conjunction with real-time steamer environmental data, real-time steamer bow and wheel
Ship bearing data, real-time floating body bearing data and real-time floating body environmental data, calculate the floating body bearing data of optimization, then
It is sent to floating body orientation control module.
Further, comprising: steamer bow and steamer orientation computing module and steamer bow are set on the steamer
With steamer orientation control module, the steamer bow and steamer orientation computing module are used to come from the floating body history according to described
Environment data base, steamer historical environment database, steamer bow and steamer orientation historical data base and floating body orientation historical data
The data in library, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body bearing data and reality
When floating body environmental data, calculate the steamer bow and steamer bearing data of optimization, be then sent to the steamer bow and
Steamer orientation control module.
Further, according to the steamer bow and steamer orientation historical data base and floating body orientation historical data base
Construct the relative position historical data base of steamer and floating body.
Further, the relative position computing module and steamer and floating body of steamer and floating body are set on the steamer
Relative position control module, the relative position computing module of the steamer and floating body be used for according to it is described from the steamer with
The data of the relative position historical data base of floating body, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer orientation number
According to, real-time floating body bearing data and real-time floating body environmental data, the steamer of optimization and the station-keeping data of floating body are calculated,
It is then sent to the relative position control module of the steamer Yu floating body.
Preferably, the sensor includes trend sensor, wind sensor and wave sensor.
A kind of device keeping relative position between bow orientation and floating body and ship includes:
It is installed on the sensor of the majority wireless telecommunications connection on floating body, for detecting and acquiring week locating for the floating body
Collarette border status data；
Floating body historical environment database module, according to surrounding locating for annual different time sections or the floating body of season acquisition
The status data of environment is built-up；
It is installed on the sensor of the majority wireless telecommunications connection on steamer, for detecting and acquiring week locating for the steamer
Collarette border status data；
Steamer historical environment database module, according to surrounding locating for annual different time sections or the steamer of season acquisition
The status data of environment is built-up；
The data acquisition module of real-time steamer bow and steamer orientation, for acquiring steamer bow and steamer orientation in real time
Data；
Steamer bow and steamer orientation history database module, the wheel acquired according to annual different time sections or season
The data in ship bow and steamer orientation are built-up；
The data acquisition module in real-time floating body orientation, for acquiring the data in floating body orientation in real time；
Floating body orientation history database module, the steamer bow and wheel acquired according to annual different time sections or season
The data of ship position are built-up；
Floating body orientation computing module and floating body orientation control module, floating body orientation computing module be used for according to it is described come
From the floating body historical environment database, steamer historical environment database, steamer bow and steamer orientation historical data base and float
The data of body orientation historical data base, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer bearing data, floating in real time
Body bearing data and real-time floating body environmental data, calculate the floating body bearing data of optimization, are then sent to the floating body side
Position control module.
Further, further includes: steamer bow and steamer orientation computing module and steamer bow and steamer orientation control mould
Block, the steamer bow and steamer orientation computing module are used to come from the floating body historical environment database, steamer according to described
The data of historical environment database, steamer bow and steamer orientation historical data base and floating body orientation historical data base, in conjunction with reality
When steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body bearing data and real-time floating body environmental data,
The steamer bow and steamer bearing data for calculating optimization are then sent to the steamer bow and steamer orientation control mould
Block.
Further, according to the steamer bow and steamer orientation historical data base and floating body orientation historical data base
Construct the relative position history database module of steamer and floating body.
Further, the relative position computing module and steamer and floating body of steamer and floating body are set on the steamer
Relative position control module, the relative position computing module of the steamer and floating body be used for according to it is described from the steamer with
The data of the relative position historical data base of floating body, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer orientation number
According to, real-time floating body bearing data and real-time floating body environmental data, the steamer of optimization and the station-keeping data of floating body are calculated,
It is then sent to the relative position control module of the steamer Yu floating body.
Preferably, the sensor includes trend sensor, wind sensor and wave sensor.
The beneficial effects of the present invention are according to the method for the present invention, detect floating body and hull week by real time sensor
The environmental aspect enclosed, according to the situation number of ambient enviroment locating for annual different time sections or the floating body and steamer of season acquisition
According to the historical environment database of building floating body and steamer；Then further according to force information outside real time environment and historical environment database
Combine the evaluation for carrying out the external force to work to hull, feeds back to the control module of floating body and ship as reference data.By
It is to calculate to make based on detailed numerical value in historical environment database, so reflecting reality more closer than simple theoretical value
The state of value, calculated result more correct and close reality compared with the result obtained according to theoretical formula method.Pass through this
Kind more accurate reference information carries out the holding control in fore orientation, make the relative position of floating body and ship keep the distance of safety at
It is possible.Therefore, the accidents such as the cutting for the rope that berths can effectively and be certainly avoided before the danger that accident occurs.
In addition, reference data that relevant method and apparatus obtain according to the present invention controls steamer and floating body, is not only
Feedback, or feedforward control.
In addition, according to the method for the present invention, obtaining the wind (wind speed, direction etc.) as environmental information, tide by sensor
The information of stream (damp speed, direction etc.), wave (period, height, direction etc.), by being compareed with historical data base, thus correctly, it is smart
The external force to play a role to hull really is evaluated, can determine the smallest best orientation.
In addition, the device for keeping relative position between bow orientation and floating body and ship according to the present invention, finally obtains
Data are optimized as feed-forward control signals and are supplied to ship and floating body, fore side is controlled together with the signal of feedback-system section
Position, steamer orientation and floating body orientation.That is, the present invention can not only realize feedback control, and it can be realized feedforward control
System, i.e., the stage before stronger external force compensate the direction that can be avoided, therefore more really effective.Floating body and steamer may be implemented
Between relative position keep control, thereby guarantee that the smoothly shipment such as safe mooring and the petroleum from floating body.
Detailed description of the invention
Fig. 1 is steamer schematic diagram of the invention；
Fig. 2 is floating body schematic diagram of the invention；
Fig. 3 is overall structure diagram of the invention.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, as shown in Figure 1, Figure 2 and Figure 3
Embodiment 1.
A method of relative position between bow orientation and floating body and ship is kept, includes:
The sensor of ambient conditions data locating for the most detection floating bodies is set on floating body, acquires institute in real time
State the status data of ambient enviroment locating for floating body；
The status data of ambient enviroment locating for the floating body acquired according to annual different time sections or season constructs floating body
Historical environment database；
The sensor of ambient conditions data locating for the most detection steamers is set on steamer, acquires institute in real time
State the status data of ambient enviroment locating for steamer；
The status data of ambient enviroment locating for the steamer acquired according to annual different time sections or season constructs steamer
Historical environment database；
The data of acquisition steamer bow and steamer orientation in real time；
Steamer ship is constructed according to the data of annual different time sections or the season steamer bow acquired and steamer orientation
First and steamer orientation historical data base；
The data in acquisition floating body orientation in real time；
Floating body side is constructed according to the data of annual different time sections or the season steamer bow acquired and steamer orientation
Position historical data base；
Floating body orientation computing module and floating body orientation control module are set on the floating body, and the floating body orientation calculates mould
Block is used for according to described from the floating body historical environment database, steamer historical environment database, steamer bow and wheel ship
The data of position historical data base and floating body orientation historical data base, in conjunction with real-time steamer environmental data, real-time steamer bow and wheel
Ship bearing data, real-time floating body bearing data and real-time floating body environmental data, calculate the floating body bearing data of optimization, then
It is sent to floating body orientation control module.
Further, comprising: steamer bow and steamer orientation computing module and steamer bow are set on the steamer
With steamer orientation control module, the steamer bow and steamer orientation computing module are used to come from the floating body history according to described
Environment data base, steamer historical environment database, steamer bow and steamer orientation historical data base and floating body orientation historical data
The data in library, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body bearing data and reality
When floating body environmental data, calculate the steamer bow and steamer bearing data of optimization, be then sent to the steamer bow and
Steamer orientation control module.
Further, according to the steamer bow and steamer orientation historical data base and floating body orientation historical data base
Construct the relative position historical data base of steamer and floating body.
Further, the relative position computing module and steamer and floating body of steamer and floating body are set on the steamer
Relative position control module, the relative position computing module of the steamer and floating body be used for according to it is described from the steamer with
The data of the relative position historical data base of floating body, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer orientation number
According to, real-time floating body bearing data and real-time floating body environmental data, the steamer of optimization and the station-keeping data of floating body are calculated,
It is then sent to the relative position control module of the steamer Yu floating body.
Preferably, the sensor includes trend sensor, wind sensor and wave sensor.
Embodiment 2 as shown in Figure 1, Figure 2 and Figure 3.Relative position between a kind of holding bow orientation and floating body and ship
Device, include:
The sensor (23), (24) and (25) of a wireless telecommunications connection of the majority being installed on floating body (2), for detecting
With ambient conditions data locating for the acquisition floating body；
Floating body historical environment database module, according to surrounding locating for annual different time sections or the floating body of season acquisition
The status data of environment is built-up；
Be installed on the sensor (11), (12) and (13) of the majority wireless telecommunications connection on steamer (1), for detect with
Acquire ambient conditions data locating for the steamer；
Steamer historical environment database module, according to surrounding locating for annual different time sections or the steamer of season acquisition
The status data of environment is built-up；
The data acquisition module of real-time steamer bow and steamer orientation, for acquiring steamer bow and steamer orientation in real time
Data；
Steamer bow and steamer orientation history database module, the wheel acquired according to annual different time sections or season
The data in ship bow and steamer orientation are built-up；
The data acquisition module in real-time floating body orientation, for acquiring the data in floating body orientation in real time；
Floating body orientation history database module, the steamer bow and wheel acquired according to annual different time sections or season
The data of ship position are built-up；
Floating body orientation computing module (21) and floating body orientation control module (22), floating body orientation computing module are used for root
The floating body historical environment database, steamer historical environment database, steamer bow and steamer orientation history number are come from according to described
According to the data in library and floating body orientation historical data base, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer orientation number
According to, real-time floating body bearing data and real-time floating body environmental data, the floating body bearing data of optimization is calculated, institute is then sent to
State floating body orientation control module.
Further, further includes: steamer bow and steamer orientation computing module (14) and steamer bow and the control of steamer orientation
Molding block (15), the steamer bow and steamer orientation computing module are used to come from the floating body history environment data according to described
The data of library, steamer historical environment database, steamer bow and steamer orientation historical data base and floating body orientation historical data base,
In conjunction with real-time steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body bearing data and real-time floating body ring
Border data calculate the steamer bow and steamer bearing data of optimization, are then sent to the steamer bow and steamer orientation
Control module.
Further, according to the steamer bow and steamer orientation historical data base and floating body orientation historical data base
Construct the relative position history database module of steamer and floating body.
Further, the relative position computing module and steamer and floating body of steamer and floating body are set on the steamer
Relative position control module, the relative position computing module of the steamer and floating body be used for according to it is described from the steamer with
The data of the relative position historical data base of floating body, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer orientation number
According to, real-time floating body bearing data and real-time floating body environmental data, the steamer of optimization and the station-keeping data of floating body are calculated,
It is then sent to the relative position control module of the steamer Yu floating body.
Preferably, the sensor includes trend sensor, wind sensor and wave sensor.
Above description merely relates to certain specific embodiments of the invention, and any those skilled in the art is based on this
The replacement or improvement that the spirit of invention is done should be protection scope of the present invention and covered, protection scope of the present invention Ying Yiquan
Subject to sharp claim.
Claims (10)
1. a kind of method for keeping relative position between bow orientation and floating body and ship, includes:
The sensor of ambient conditions data locating for the most detection floating bodies is set on floating body, is acquired in real time described floating
The status data of ambient enviroment locating for body；
The status data of ambient enviroment locating for the floating body acquired according to annual different time sections or season constructs floating body history
Environment data base；
The sensor of ambient conditions data locating for the most detection steamers is set on steamer, acquires the wheel in real time
The status data of ambient enviroment locating for ship；
The status data of ambient enviroment locating for the steamer acquired according to annual different time sections or season constructs steamer history
Environment data base；
The data of acquisition steamer bow and steamer orientation in real time；
The data in the steamer bow acquired according to annual different time sections or season and steamer orientation building steamer bow and
Steamer orientation historical data base；
The data in acquisition floating body orientation in real time；
It is gone through according to the data building floating body orientation of annual different time sections or the season steamer bow acquired and steamer orientation
History database；
Floating body orientation computing module and floating body orientation control module are set on the floating body, and floating body orientation computing module is used
It is gone through according to described from the floating body historical environment database, steamer historical environment database, steamer bow and steamer orientation
The data of history database and floating body orientation historical data base, in conjunction with real-time steamer environmental data, real-time steamer bow and wheel ship
Position data, real-time floating body bearing data and real-time floating body environmental data, calculate the floating body bearing data of optimization, then send
Give floating body orientation control module.
2. the method according to claim 1 for keeping relative position between bow orientation and floating body and ship, feature exist
In, comprising: steamer bow and steamer orientation computing module and steamer bow and the control of steamer orientation are set on the steamer
Module, the steamer bow and steamer orientation computing module are used for according to described from the floating body historical environment database, wheel
The data of ship historical environment database, steamer bow and steamer orientation historical data base and floating body orientation historical data base, in conjunction with
Real-time steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body bearing data and real-time floating body environment number
According to, calculate the steamer bow and steamer bearing data of optimization, be then sent to the steamer bow and steamer orientation control
Module.
3. the method according to claim 1 or 2 for keeping relative position between bow orientation and floating body and ship, feature
It is, according to the steamer bow and steamer orientation historical data base and the floating body orientation historical data base building steamer and floats
The relative position historical data base of body.
4. the method according to claim 3 for keeping relative position between bow orientation and floating body and ship, feature exist
In, comprising: steamer and the relative position computing module of floating body and the relative position of steamer and floating body are set on the steamer
The relative position computing module of control module, the steamer and floating body is used for opposite from the steamer and floating body according to described
The data of location history database, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body
Bearing data and real-time floating body environmental data, calculate the steamer of optimization and the station-keeping data of floating body, are then sent to
The relative position control module of the steamer and floating body.
5. the method according to claim 1 or 2 for keeping relative position between bow orientation and floating body and ship, feature
It is, the sensor includes trend sensor, wind sensor and wave sensor.
6. a kind of device for keeping relative position between bow orientation and floating body and ship, includes:
It is installed on the sensor of the majority wireless telecommunications connection on floating body, for detecting and acquiring surrounding ring locating for the floating body
Border status data；
Floating body historical environment database module, according to ambient enviroment locating for annual different time sections or the floating body of season acquisition
Status data it is built-up；
It is installed on the sensor of the majority wireless telecommunications connection on steamer, for detecting and acquiring surrounding ring locating for the steamer
Border status data；
Steamer historical environment database module, according to ambient enviroment locating for annual different time sections or the steamer of season acquisition
Status data it is built-up；
The data acquisition module of real-time steamer bow and steamer orientation, for acquiring the number of steamer bow and steamer orientation in real time
According to；
Steamer bow and steamer orientation history database module, the steamer ship acquired according to annual different time sections or season
First and steamer orientation data are built-up；
The data acquisition module in real-time floating body orientation, for acquiring the data in floating body orientation in real time；
Floating body orientation history database module, the steamer bow acquired according to annual different time sections or season and wheel ship
The data of position are built-up；
Floating body orientation computing module and floating body orientation control module, floating body orientation computing module are used to come from institute according to described
State floating body historical environment database, steamer historical environment database, steamer bow and steamer orientation historical data base and floating body side
The data of position historical data base, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body side
Position data and real-time floating body environmental data, calculate the floating body bearing data of optimization, are then sent to floating body orientation control
Molding block.
7. the device according to claim 6 for keeping relative position between bow orientation and floating body and ship, feature exist
In, comprising: steamer bow and steamer orientation computing module and steamer bow and steamer orientation control module, the steamer bow
With steamer orientation computing module be used for according to it is described from the floating body historical environment database, steamer historical environment database,
The data of steamer bow and steamer orientation historical data base and floating body orientation historical data base, in conjunction with real-time steamer environmental data,
Real-time steamer bow and steamer bearing data, real-time floating body bearing data and real-time floating body environmental data, calculate optimization
Steamer bow and steamer bearing data are then sent to the steamer bow and steamer orientation control module.
8. the device according to claim 6 or 7 for keeping relative position between bow orientation and floating body and ship, feature
It is, according to the steamer bow and steamer orientation historical data base and the floating body orientation historical data base building steamer and floats
The relative position history database module of body.
9. the device according to claim 8 for keeping relative position between bow orientation and floating body and ship, feature exist
In, comprising: steamer and the relative position computing module of floating body and the relative position of steamer and floating body are set on the steamer
The relative position computing module of control module, the steamer and floating body is used for opposite from the steamer and floating body according to described
The data of location history database, in conjunction with real-time steamer environmental data, real-time steamer bow and steamer bearing data, real-time floating body
Bearing data and real-time floating body environmental data, calculate the steamer of optimization and the station-keeping data of floating body, are then sent to
The relative position control module of the steamer and floating body.
10. the device according to claim 6 or 7 for keeping relative position between bow orientation and floating body and ship, special
Sign is that the sensor includes trend sensor, wind sensor and wave sensor.
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