CN113124754A - Pose monitoring method suitable for floating support installation jacking plane and butt joint plane - Google Patents

Pose monitoring method suitable for floating support installation jacking plane and butt joint plane Download PDF

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Publication number
CN113124754A
CN113124754A CN202110442578.2A CN202110442578A CN113124754A CN 113124754 A CN113124754 A CN 113124754A CN 202110442578 A CN202110442578 A CN 202110442578A CN 113124754 A CN113124754 A CN 113124754A
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plane
butt joint
jacking
upper module
laser ranging
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邵鹏松
章青
张子波
蒋晗
姚旭
张子峰
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Tianjin University
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Tianjin University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

Abstract

The invention discloses a pose monitoring method suitable for floating installation of a jacking plane and a butt joint plane, which comprises the steps of installing eight laser ranging sensors on a jacket pile leg, measuring distance data in the butt joint process, obtaining the coordinates of discrete points at the bottom of an upper module according to the position relation, and calculating a measurement plane equation; installing pressure sensors in the four hydraulic cylinders, measuring pressure values, calculating the magnitude of the jacking force of each position, performing static analysis in ANSYS to obtain an upper module deformation model, and calculating jacking plane deviation and butt joint plane deviation through secondary development; and combining the deviation value and the measurement plane equation to obtain a jacking plane equation and a butt joint plane equation. The invention can improve the butt joint precision of the upper module in the floating support installation process, enhance the anti-interference performance of the monitoring system and ensure the safety of the butt joint process.

Description

Pose monitoring method suitable for floating support installation jacking plane and butt joint plane
Technical Field
The invention relates to a plane pose monitoring method, in particular to a pose monitoring method for a jacking plane and a butt joint plane of float-over installation.
Background
In the butt joint process of the floating support installation modules, the upper module slowly descends to the support pile legs of the jacket under the combined action of the hydraulic system, the water level ballast system and tide. The upper module is required to be kept stable under the influence of factors such as wind, waves, currents, tides and the like through the action of a motion compensation system, and the most important part of the motion compensation system is the monitoring of the real-time pose of the upper module. The traditional pose monitoring method is to monitor the upper module by using a laser radar, and the method has the advantages of larger hysteresis, lower monitoring precision, limited monitoring range, higher equipment cost and poor environment adaptability, and cannot be completely suitable for the floating installation process. In addition, the upper module is mainly supported in a point mode in the floating support installation process, the bottom of the upper module can deform in a large range, the butt joint position and the jacking position can have large deviation with the theoretical position, the current pose monitoring system is not designed for the situation, the butt joint precision of the upper module is seriously influenced, and a pose monitoring method with high precision, high practicability and high real-time performance is urgently needed in the butt joint process of the floating support installation module.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a convenient and feasible pose monitoring method which can enhance monitoring timeliness, improve docking accuracy, guarantee construction safety, adapt to complex marine environment and is convenient and feasible in the docking process of a floating support installation module.
The invention has the advantages that: a laser ranging sensor is used as a main monitoring instrument, so that the monitoring precision and the environmental anti-interference performance are improved; the traditional idea of only monitoring the bottom surface of the upper module is eliminated, the butt joint plane and the jacking plane are monitored, and the practicability of the monitoring system is enhanced; the deformation condition of the upper module in the floating installation process is comprehensively considered, so that the monitoring effect is more reliable; the calculation method is simple and convenient, the data processing is simple, and the timeliness of the monitoring system is guaranteed to the maximum extent; the method can effectively solve the problems of low butt joint precision, strong time lag and the like in the butt joint process of the floating support installation module, and is simple to operate, safe and reliable, high in monitoring precision, strong in anti-interference performance and strong in real-time performance.
Drawings
FIG. 1 is a flow chart of a pose monitoring method suitable for floating installation of a jacking plane and a butt joint plane;
FIG. 2 is a schematic view of the position of the survey, jacking and docking planes of a float-over barge;
FIG. 3 is a schematic top view of a float-over mounted jacket leg and laser ranging sensor;
FIG. 4 is a schematic elevation view of a float-over jacket leg and laser ranging sensor;
in fig. 2: 1-an upper module; 2-a laser beam; 3-hydraulic cylinders on the floatover barge; 4-a floatover barge; 5, butting pile legs by upper modules; 6-jacking a plane; 7-measuring the plane; 8-a docking plane;
in fig. 3: 9-jacket support legs, 10-laser ranging sensors.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Step one, installing a laser ranging sensor on each pile leg of the offshore platform jacket, wherein the laser ranging sensor is vertically installed upwards, and the top surface of the laser ranging sensor and the top surface of the pile leg of the jacket are at the same horizontal height. For convenience of description, a jacket with two rows of eight pile legs is taken as an example for explanation, and a laser ranging sensor A is respectively arranged at the inner side positions of the pile legs of the jacket1-A8。
Step two, measuring by using a laser ranging sensor to obtain three-dimensional coordinates of a plurality of discrete points on the bottom surface of the upper module, wherein the specific process is as follows:
firstly, selecting a laser ranging sensor A1Establishing a space rectangular coordinate system A with the central point of the laser emitting port as the origin1To A2The direction is positive x-axis direction, A1To A5The direction is the positive direction of the y axis, and the vertical direction is the positive direction of the z axis;
secondly, in the butt joint process of the floating support installation blocks, the distance between the laser ranging sensor and the bottom surface of the upper module is measured, and the measured distance data zA1、zA2、zA3、zA4、zA5、zA6、zA7、zA8Transmitting the data to the computer through the wireless transmission module;
thirdly, calculating to obtain three-dimensional coordinates of the center points of the laser emitting ports of the eight laser ranging sensors according to the position relation of the laser ranging sensors, and combining the distance data z measured in the second stepA1、zA2、zA3、zA4、zA5、zA6、zA7、zA8The coordinates (x) of the discrete points on the bottom surfaces of the eight upper modules can be obtainedA1,yA1,zA1)、(xA2,yA2,zA2)、(xA3,yA3,zA3)、(xA4,yA4,zA4)、(xA5,yA5,zA5)、(xA6,yA6,zA6)、(xA7,yA7,zA7)、(xA8,yA8,zA8)。
And step three, calculating an upper module measuring plane equation z as ax + by + c by using an over-determined equation according to the discrete point coordinates on the bottom surface of the upper module obtained in the step two. Wherein:
Figure BDA0003035182730000031
step four, analyzing the deformation condition of the bottom surface of the upper module in the butt joint process of the floating installation blocks by using ANSYS finite element analysis software, wherein the specific process is as follows:
in the first step, the whole weight of the upper module is supported by four hydraulic cylinders on the floatover barge in the butt joint process of the floatover installation blocks, each hydraulic cylinder is provided with a pressure sensor, and the pressure P in the four hydraulic cylinders is measured1、P2、P3、P4The data are transmitted to a computer through a wireless transmission module, and the jacking force F of each hydraulic cylinder can be obtained through calculation1、F2、F3、F4Wherein:
Figure BDA0003035182730000032
in the formula, S represents the sectional area of a rodless cavity in the hydraulic cylinder and can be inquired by the use instruction of the hydraulic cylinder;
secondly, introducing a three-dimensional model of the upper module into ANSYS finite element analysis software, and sequentially adding four jacking points of the hydraulic cylinder on the bottom surface of the upper module according to the corresponding relation between positions and forces, wherein the four jacking points are vertically upward and have the size of F1、F2、F3、F4And (4) performing statics analysis to obtain a deformation model of the upper module.
Calculating according to the deformation model of the upper module to obtain a plane equation of the jacking plane and the butt joint plane in the floating support installation process, wherein the specific process is as follows:
step one, according to the situation of actual engineering design, selecting a jacking point, a measuring point and a butt joint point in the upper module deformation model obtained in the step four in a clicking mode;
secondly, carrying out secondary development of coordinate extraction on ANSYS software to obtain the coordinates of the jacking point, the coordinates of the measuring point and the coordinates of the butt joint point selected in the first step, and calculating to obtain the deviation epsilon of the jacking plane1Deviation of butt joint plane epsilon2Wherein:
Figure BDA0003035182730000041
in the formula, z1Representing vertical coordinates of jacking point, z2Representing the vertical coordinate of the docking point, z0Representing the vertical coordinate of the measuring point;
thirdly, combining the measuring plane equation obtained in the third step with the jacking plane deviation epsilon obtained in the fifth and second steps1Deviation of butt joint plane epsilon2The jacking plane equation z is ax + by + c + epsilon1The equation z of the butt joint plane is ax + by + c + epsilon2The jacking plane equation and the butt plane equation are introduced into the drawing softwareAnd obtaining the pose states of the jacking plane and the jacking plane.

Claims (1)

1. A pose monitoring method suitable for floating-support installation of a jacking plane and a butt-joint plane is characterized by comprising the following steps:
step one, installing a laser ranging sensor on each pile leg of the offshore platform jacket, wherein the laser ranging sensor is vertically installed upwards, and the top surface of the laser ranging sensor and the top surface of the pile leg of the jacket are at the same horizontal height. For convenience of description, a jacket with two rows of eight pile legs is taken as an example for explanation, and a laser ranging sensor A is respectively arranged at the inner side positions of the pile legs of the jacket1-A8。
Step two, measuring by using a laser ranging sensor to obtain three-dimensional coordinates of a plurality of discrete points on the bottom surface of the upper module, wherein the specific process is as follows:
firstly, selecting a laser ranging sensor A1Establishing a space rectangular coordinate system A with the central point of the laser emitting port as the origin1To A2The direction is positive x-axis direction, A1To A5The direction is the positive direction of the y axis, and the vertical direction is the positive direction of the z axis;
secondly, in the butt joint process of the floating support installation blocks, the distance between the laser ranging sensor and the bottom surface of the upper module is measured, and the measured distance data zA1、zA2、zA3、zA4、zA5、zA6、zA7、zA8Transmitting the data to the computer through the wireless transmission module;
thirdly, calculating to obtain three-dimensional coordinates of the center points of the laser emitting ports of the eight laser ranging sensors according to the position relation of the laser ranging sensors, and combining the distance data z measured in the second stepA1、zA2、zA3、zA4、zA5、zA6、zA7、zA8The coordinates (x) of the discrete points on the bottom surfaces of the eight upper modules can be obtainedA1,yA1,zA1)、(xA2,yA2,zA2)、(xA3,yA3,zA3)、(xA4,yA4,zA4)、(xA5,yA5,zA5)、(xA6,yA6,zA6)、(xA7,yA7,zA7)、(xA8,yA8,zA8)。
And step three, calculating an upper module measuring plane equation z as ax + by + c by using an over-determined equation according to the discrete point coordinates on the bottom surface of the upper module obtained in the step two.
Step four, analyzing the deformation condition of the bottom surface of the upper module in the butt joint process of the floating installation blocks by using ANSYS finite element analysis software, wherein the specific process is as follows:
in the first step, the whole weight of the upper module is supported by four hydraulic cylinders on the floatover barge in the butt joint process of the floatover installation blocks, each hydraulic cylinder is provided with a pressure sensor, and the pressure P in the four hydraulic cylinders is measured1、P2、P3、P4The data are transmitted to a computer through a wireless transmission module, and the jacking force F of each hydraulic cylinder can be obtained through calculation1、F2、F3、F4；
Secondly, introducing a three-dimensional model of the upper module into ANSYS finite element analysis software, and sequentially adding four jacking points of the hydraulic cylinder on the bottom surface of the upper module according to the corresponding relation between positions and forces, wherein the four jacking points are vertically upward and have the size of F1、F2、F3、F4And (4) performing statics analysis to obtain a deformation model of the upper module.
Calculating according to the deformation model of the upper module to obtain a plane equation of the jacking plane and the butt joint plane in the floating support installation process, wherein the specific process is as follows:
step one, according to the situation of actual engineering design, selecting a jacking point, a measuring point and a butt joint point in the upper module deformation model obtained in the step four in a clicking mode;
secondly, carrying out secondary development of coordinate extraction on ANSYS software to obtain the coordinates of the jacking point, the coordinates of the measuring point and the coordinates of the butt joint point selected in the first step, and calculating to obtain the deviation epsilon of the jacking plane1And butt joint is flatSurface deviation epsilon2；
Thirdly, combining the measuring plane equation obtained in the third step with the jacking plane deviation epsilon obtained in the fifth and second steps1Deviation of butt joint plane epsilon2The jacking plane equation z is ax + by + c + epsilon1The equation z of the butt joint plane is ax + by + c + epsilon2And leading in a jacking plane equation and a butt joint plane equation in the drawing software to obtain the pose states of the jacking plane and the jacking plane.
CN202110442578.2A 2021-04-24 2021-04-24 Pose monitoring method suitable for floating support installation jacking plane and butt joint plane Pending CN113124754A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113942622A (en) * 2021-11-19 2022-01-18 博迈科海洋工程股份有限公司 Motion compensation method suitable for FPSO upper module lifting installation process

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113942622A (en) * 2021-11-19 2022-01-18 博迈科海洋工程股份有限公司 Motion compensation method suitable for FPSO upper module lifting installation process
CN113942622B (en) * 2021-11-19 2023-11-07 博迈科海洋工程股份有限公司 Motion compensation method suitable for FPSO upper module lifting and installing process

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