CN109870160B - Flight path planning method for supporting platform mooring and multipoint mooring of FPSO - Google Patents
Flight path planning method for supporting platform mooring and multipoint mooring of FPSO Download PDFInfo
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- CN109870160B CN109870160B CN201910080325.8A CN201910080325A CN109870160B CN 109870160 B CN109870160 B CN 109870160B CN 201910080325 A CN201910080325 A CN 201910080325A CN 109870160 B CN109870160 B CN 109870160B
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Abstract
The invention relates to a flight path planning method for supporting a platform to moor at multiple points to an FPSO (floating production storage and offloading), which comprises the following steps of: step 1: a berthing marking point and berthing stage: marking a berthing right point A, a turning starting point B and a berthing preparation point C; step 2: planning a route from the point C to the point B; and 3, step 3: planning the route from the point B to the point A. The invention has the advantages that: aiming at a multi-point mooring FPSO, a mooring path is scientifically selected, the mooring process is segmented, different mooring planning strategies are adopted in the two stages, and the influence of mooring cables of the FPSO on the mooring track of the platform is reduced; in addition, the inclined berthing mode is adopted, the risk of collision between the supporting platform and the FPSO due to overlarge speed or overlarge angle during flat berthing is avoided, and meanwhile, the influence of different positions of the trestle on berthing tracks is fully considered.
Description
Technical Field
The invention belongs to the field of platform berthing track planning, and particularly relates to a track planning method for supporting a platform berthing multipoint mooring FPSO.
Background
In the development of offshore oil and gas resources, FPSOs are one of the important offshore facilities, the number of which is increasing year by year, with multi-point moorings accounting for the major part in shallow water areas. The support platform can supply, store and transport materials for the FPSO, so that the support platform is necessary for berthing the FPSO. On one hand, when the support platform is moored at multiple points, the FPSO has a relatively large mooring cable radiation range, particularly in a shallow water area, and the influence of the mooring cables on the berthing track of the support platform must be considered; on the other hand, the mooring azimuth line of the support platform exceeds the required safety range, which may cause safety accidents such as collision between the support platform and the FPSO and equipment thereof.
At present, the FPSO for supporting the platform berthing is generally that a driver estimates the distance between the outer contour of the platform and the FPSO by naked eyes, and the berthing is realized by experience, which has high requirements on the ship-handling capability of the driver. In addition, if the positions of the trestles supporting the platforms are different, the berthing track needs to be changed according to specific conditions. Therefore, there is an urgent need to develop a flight path planning method for supporting platform berthing and multi-point mooring of an FPSO.
Disclosure of Invention
The invention aims to provide a flight path planning method for supporting a platform to berth a multipoint mooring FPSO, which can reduce the influence of mooring cable constraint of the FPSO on the berthing flight path of the supporting platform and can avoid the collision between the supporting platform and the FPSO due to overlarge berthing azimuth angle of the supporting platform.
In order to solve the technical problems, the technical scheme of the invention is as follows: a flight path planning method for supporting platform mooring and multipoint mooring FPSO is characterized in that: the flight path planning method comprises the following steps:
step 1: a berthing marking point and berthing stage: recording the position of a mooring point of a multi-point mooring FPSO as an O point; defining a distance D from the point O 1 The point of a meter is a berthing position point and is marked as a point A, the point O and the point A are positioned on the same straight line L1, and the straight line is vertical to the heading direction of the FPSO; defining a straight line L2 passing through the point A and parallel to the FPSO as a first boundary line; a straight line L3 which passes through the point A and forms an included angle of 45 degrees with the first boundary line is defined as a second boundary line; on a straight line L4 where a mooring cable closest to the point A is located, extending outwards from the critical touch position of the floating body under the platform and the FPSO mooring cable along the direction of the mooring cable by D 2 Marking the position of the rice as a point E; defining a straight line passing through the point A and the point E simultaneously as a third boundary line; defining an included angle formed by the second boundary line, the third boundary line and the point A as theta; on the angle bisector of theta, a distance D from the FPSO outer contour is defined 3 The position of the meter is the starting turning point, marked as point B, and D 3 >D 2 (ii) a Defined on the extended line of OBThe point 500 meters away from the point O is a berthing preparation point and is marked as a point C;
step 2: planning a route from the point C to the point B: planning a track to be a directed straight track section in a stage from a point C to a point B, namely a stage that the support platform moves from a berthing preparation point to a turning starting point, wherein the direction of the track is alpha, the point C points to the point B, the direction is a heading to be kept when the platform is berthed, and the support platform keeps a fixed heading to move to the turning starting point along the straight track;
and step 3: planning a route from the point B to the point A: and determining an arc according to the given speed and the turning radius of the track from the point B to the point A, namely the turning track section of the support platform moving to the berthing position point at the starting turning point, wherein the arc is tangent to the straight track section and the first boundary line, and the support platform is gently switched to the next track along the arc track while the platform slowly moves to the berthing position point.
Further, from the point C to the point B, the northeast coordinate of the starting point of the straight track segment is set as C (x) 1 ,y 1 ) The north east coordinate of the end point is B (x) 2 ,y 2 ) The north east coordinate of the platform is P (x) 3 ,y 3 ) X represents an east coordinate, y represents a north coordinate, the set speed is V, the sampling time is T, and the track point at nT time is:
Tx n ＝Tx n-1 +VT cos α,Tx 0 ＝x 1
Ty n ＝Ty n-1 +VT sin α,Ty 0 ＝y 1 。
further, from the point B to the point a, the coordinate O '(x') of the center of the revolution circle can be obtained according to the northeast coordinate of the point B and the planned direction α of the straight track segment 4 ,y 4 ) (ii) a Berthing in-place coordinate A (x) 5 ,y 5 ) Radius of gyration
Assuming a given platform velocity of V, the slew rate of the platform is R = V/R, so that the track point from point B to point a is:
Tx n ＝x 4 +R cos(β n )
Ty n ＝y 4 +R sin(β n )
in the formula, beta n ＝β n-1 + r.T.sgn, sgn is 1 or-1, indicating that the platform is turning to the right or to the left.
Further, the arrival of the support platform at the docking station comprises a positioning position and a desired heading, wherein the positioning position is that the support platform trestle is positioned about 38 meters away from the docking point O of the FPSO, and the desired heading is that the heading of the support platform is 0 degree or 180 degrees away from the heading of the FPSO, that is, the support platform is parallel to the FPSO.
The invention has the advantages that: the invention relates to a flight path planning method for supporting a platform to berth a FPSO (floating production storage and offloading) at multiple points, which is characterized in that a berthing path is scientifically selected for the FPSO at multiple points, a berthing process is segmented, different berthing planning strategies are adopted in two stages, and the influence of mooring cables of the FPSO on the berthing flight path of the platform is reduced; in addition, the inclined berthing mode is adopted, the risk of collision between the supporting platform and the FPSO due to overlarge speed or overlarge angle during flat berthing is avoided, and meanwhile, the influence of different positions of the trestle on berthing tracks is fully considered.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic illustration of the docking site selection and docking staging scheme of the present invention.
FIG. 2 is a flow chart of the berthing process of the present invention.
Detailed Description
The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the scope of the embodiments described herein.
Examples
The embodiment of the invention provides a flight path planning method for supporting platform berthing multipoint mooring FPSO, which comprises the following steps:
step 1: a berthing marking point and berthing stage: as shown in fig. 1, the position of the mooring point of the multi-point mooring FPSO is denoted as O point; defining a distance D from the point O 1 Distance of =73 meters (FPSO docking point is distant from supporting platform trestle)38 meters and 35 meters half the width of the supporting platform) as a mooring point and is marked as a point A, the point O and the point A are positioned on the same straight line L1, and the straight line is vertical to the heading direction of the FPSO; defining a straight line L2 passing through the point A and parallel to the FPSO as a first boundary line; a straight line L3 which passes through the point A and has an included angle of 45 degrees with the first boundary line (the included angle between the mooring square line and the mooring surface is less than 45 degrees according to the specification requirement) is defined as a second boundary line; on a straight line L4 where a mooring cable closest to one side of the trestle is located, the critical touch position of the lower floating body of the platform and the FPSO mooring cable extends outwards along the direction of the mooring cable by a distance D 2 The position where the distance between the floating body under the platform and the critical touch position of the mooring cable of the FPSO is 32 meters, the half of the geometric diagonal of the platform is 60 meters, and the outer contour of the FPSO extends outwards for 30 meters is a safety zone is defined as an E point; defining a straight line passing through the point A and the point E at the same time as a third boundary line; defining an included angle formed by the second boundary line, the third boundary line and the point A as theta; defined on the bisector of the angle theta and is separated from the FPSO outer contour by a distance D 3 The position of =194 m is the starting turning point and is marked as point B; defining a point on the arc with the distance of 500 meters from the point A as a berthing preparation point, and recording as a point C;
step 2: planning a route from the point C to the point B: as shown in fig. 2, the support platform performs mooring preparation at a point C (mooring preparation point), adjusts the heading of the support platform to be aligned with a point O, and starts mooring after the support platform is prepared; in the first stage, namely the stage that the support platform moves from the berthing preparation point to the starting turning point, planning a flight path as a directed straight line flight path segment, wherein the direction of the flight path is alpha, and the direction is the heading which is to be kept when the platform is berthed; setting the northeast coordinate of the starting point of the straight-line track segment as C (x) 1 ,y 1 ) The north east coordinate of the end point is B (x) 2 ,y 2 ) The north east coordinate of the platform is P (x) 3 ,y 3 ) X represents an east coordinate, y represents a north coordinate, the set speed is V, the sampling time is T, and the track point at nT time is:
Tx n ＝Tx n-1 +VT cos α,Tx 0 ＝x 1
Ty n ＝Ty n-1 +VT sin α,Ty 0 ＝y 1
as the outer wheel of the supporting platformDistance D between profile and mooring point O 3 When the length is not less than 194 m, the supporting platform reaches a turning point B, and the platform starts turning;
and step 3: planning a route from the point B to the point A: in the second stage, determining an arc tangent to both the straight track section and the first boundary line according to the given speed and the turning radius, supporting the platform to be smoothly switched to the next track along the arc track, and slowly moving the platform to a berthing site; obtaining the coordinate O' (x) of the center of the revolution circle according to the northeast coordinate of the point B and the planning direction alpha of the straight track segment 4 ,y 4 ) (ii) a Berthing in-place coordinate A (x) 5 ,y 5 ) Radius of gyration
Assuming that the given speed of the platform is V, it can be obtained that the slew rate of the platform is R = V/R, so that the track point from point B to point a is:
Tx n ＝x 4 +R cos(β n )
Ty n ＝y 4 +R sin(β n )
in the formula, beta n ＝β n-1 + r.T.sgn, sgn is 1 or-1, indicating that the platform is turning to the right or to the left; the final posture of the support platform in the turning track section is that the distance between the position of the support platform trestle and the mooring point O of the FPSO is about 38 meters, the difference between the heading of the support platform and the heading of the FPSO is 0 degree or 180 degrees, namely the support platform is parallel to the FPSO.
If the support platform landing stage is on the other side or the docking point is located elsewhere on the multi-moored FPSO, the docking process is similar to that described above and will not be repeated.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A flight path planning method for supporting a platform to moor at multiple points to an FPSO (floating production storage and offloading) is characterized by comprising the following steps: the flight path planning method comprises the following steps:
step 1: a berthing marking point and berthing stage: recording the position of a mooring point of a multi-point mooring FPSO as an O point; defining a point D1 m away from the point O as a berthing position point, marking as a point A, wherein the point O and the point A are positioned on a straight line L1, and the straight line is vertical to the heading of the FPSO; defining a straight line L2 passing through the point A and parallel to the FPSO as a first boundary line; a straight line L3 which passes through the point A and forms an included angle of 45 degrees with the first boundary line is defined as a second boundary line; on a straight line L4 where a mooring cable closest to the point A is located, extending outwards from the critical touch position of the floating body under the platform and the FPSO mooring cable along the direction of the mooring cable by D 2 Marking the position of the rice as a point E; defining a straight line passing through the point A and the point E simultaneously as a third boundary line; defining an included angle formed by the second boundary line, the third boundary line and the point A as theta; on the angle bisector of theta, a distance D is defined from the FPSO outer contour 3 The position of the meter is the starting turning point, marked as the point B, and D 3 >D 2 (ii) a Defining a point which is 500 meters away from the point O on the extension line of the OB as a berthing preparation point and marking as a point C;
step 2: planning a route from the point C to the point B: planning a flight path as a directional straight line flight path section in a stage from a point C to a point B, namely a stage that the support platform moves from a berthing preparation point to a turning starting point, wherein the direction of the flight path is alpha, the point C points to the point B, the direction is the heading to be kept when the platform is berthed, and the support platform keeps a fixed heading to move to the turning starting point along the straight line flight path;
and step 3: planning a route from the point B to the point A: determining an arc according to the given speed and the turning radius of the track from the point B to the point A, namely a turning track section of the support platform moving to the berthing location point from the turning point, wherein the arc is tangent to the straight track section and the first boundary line, the support platform is switched to the next track along the arc track, and meanwhile, the support platform moves to the berthing location point;
between the point B and the point A,obtaining the coordinate O' (x) of the center of the revolution circle according to the northeast coordinate of the point B and the planning direction alpha of the straight track segment 4 ,y 4 ) (ii) a Berthing reference point coordinate A (x) 5 ,y 5 ) Radius of gyration
Assuming that the given platform speed is V and the sampling time is T, the slew rate of the platform is R = V/R, so that the track point from point B to point a is:
Tx n ＝x 4 +Rcos(β n )
Ty n ＝y 4 +Rsin(β n )
in the formula, beta n ＝β n-1 + r.T.sgn, sgn is 1 or-1, indicating that the platform is turning to the right or to the left.
2. The method of claim 1, wherein the method comprises: setting the northeast coordinate of the starting point of the straight track segment as C (x) between the point C and the point B 1 ,y 1 ) The north east coordinate of the end point is B (x) 2 ,y 2 ) North east coordinate of platform is P (x) 3 ,y 3 ) X represents an east coordinate, y represents a north coordinate, the set speed is V, the sampling time is T, and the track point at nT time is:
Tx n ＝Tx n-1 +VTcosα,Tx 0 ＝x 1
Ty n ＝Ty n-1 +VTsinα,Ty 0 ＝y 1 。
3. the method of claim 1, wherein the method comprises: the support platform reaching the berthing location point comprises a positioning position and an expected heading, the positioning position refers to the position of a support platform trestle and the berthing point O point of the FPSO are separated by about 38 meters, and the expected heading refers to the difference between the heading of the support platform and the heading of the FPSO by 0 degree or 180 degrees, namely the support platform is parallel to the FPSO.
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| CN113253718B (en) * | 2021-03-31 | 2022-10-28 | 航天时代(青岛)海洋装备科技发展有限公司 | Unmanned ship autonomous berthing track planning method and control method |
| CN113515138A (en) * | 2021-06-15 | 2021-10-19 | 西安爱生技术集团有限公司 | Fixed-wing unmanned aerial vehicle airline re-planning method |
| CN116483079A (en) * | 2023-04-12 | 2023-07-25 | 上海交通大学 | Combined path optimization planning method for offshore floating production oil storage ship |
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| US6983712B2 (en) * | 2001-08-03 | 2006-01-10 | Fmc Technologies, Inc. | Offloading arrangements and method for spread moored FPSOs |
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