CN113998064B - High-bearing semi-submersible drilling platform sea wave compensation device and control method - Google Patents
High-bearing semi-submersible drilling platform sea wave compensation device and control method Download PDFInfo
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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
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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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
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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
- B63B2035/442—Spar-type semi-submersible structures, i.e. shaped as single slender, e.g. substantially cylindrical or trussed vertical bodies
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Abstract
The invention discloses a high-bearing semi-submersible drilling platform sea wave compensation device and a control method, wherein the device comprises a floating box, bearing struts, parallel posture adjustment modules, a sea wave identification module, a data processing module, a control and drive module and a drilling platform deck, wherein the bearing struts are connected above the floating box, the bearing struts are connected with the parallel posture adjustment modules, and the parallel posture adjustment modules are connected with the drilling platform deck; the number of the bearing struts is equal to that of the parallel gesture adjusting modules; the acoustic wave tester in the wave recognition module is used for measuring wave flow parameters, the gyroscope is used for measuring the pose of the buoyancy tank coordinate system relative to the deck coordinate system, the data processing module is used for processing the wave movement parameters, and the control and drive module is used for controlling the linear movement unit to move. The invention has the characteristics of strong bearing performance and good stability, and can realize the composite motion compensation of the semi-submersible drilling platform on the transverse movement, the longitudinal movement, the heave and the roll, the pitch and the yaw of sea waves.
Description
Technical Field
The invention relates to a floating building, in particular to a high-bearing semi-submersible drilling platform system and a control method, and belongs to the field of ocean engineering equipment.
Background
The current equipment for marine oil and gas resource exploration mainly comprises a drilling exploration ship, a jack-up drilling platform and a semi-submersible drilling platform. The drilling exploration ship is usually used for the early-stage exploration and scientific investigation of ocean resources, and development and production operation of ocean oil and gas resources cannot be carried out. The self-elevating drilling platform is generally suitable for shallow sea operation environment, and is difficult to meet the requirements of deep sea operation environment and severe sea conditions. The semi-submersible drilling platform has good stability and maneuverability, and the drilling platform and the drilling equipment can keep stable operation on the sea surface by means of a buoyancy tank and supporting equipment which are submerged into the sea surface for a certain depth. At present, a semi-submersible drilling platform gradually becomes an important support for deep sea oil and gas resource exploration and development.
Considering that the semi-submersible drilling platform usually works in sea waves and stormy waves, various devices above the drilling deck usually vibrate along with fluctuation of the sea waves, not only the working and living states of the ocean platform staff are affected, but also various safety production accidents are more easily caused. Meanwhile, in the oil and gas resource exploration process, stable contact between the tail end of drilling equipment and a seabed wellhead is usually required to be kept, and the fluctuation caused by wave fluctuation brings challenges to the reliable operation of the semi-submersible drilling platform. At present, various drilling platforms have hundred-ton and kiloton loads, and how to improve the stability and reliability of the semi-submersible type drilling platform by improving and optimizing the structure and the control method of the semi-submersible type drilling platform has become an important research issue.
In the aspect of structural optimization and control of the semi-submersible drilling platform, domestic and foreign specialists have given important cases and have developed beneficial exploration. Such as U.S. patent: a low-motion semi-submersible ocean platform (patent number: US2019/0031291A 1) is disclosed, which is technically characterized in that: the water chamber is arranged on the support.
The deep-water semi-submersible drilling platform disclosed in China patent publication (application number: 20091018708. X; grant bulletin number: CN 101954959B) is technically characterized in that a half derrick space for pre-connecting drilling tools is added on one side of a derrick, a marine riser and marine riser conveying equipment are arranged on a main deck at the front part of a moon pool, a drill string and drill string conveying equipment are arranged on the main deck at the rear part of the moon pool, a blowout preventer and blowout preventer conveying equipment are arranged on the main deck at the left part of the moon pool, and a christmas tree and christmas tree conveying equipment are arranged on the main deck at the right part of the moon pool; corresponding to the front, back, left and right directions of the moon pool, a manipulator for conveying the riser to a well hole in cooperation with the riser and the riser conveying equipment is arranged in the front, back, left and right directions of the derrick respectively, a pipe lifting machine for conveying the drill string to the well hole in cooperation with the drill string and the drill string conveying equipment is used for discharging the pipe arranging machine of the drill string on the drill floor and a traveling block for lifting a drilling tool in cooperation with the crown block; the method comprises the steps that a combined positioning system of anchoring positioning and dynamic positioning is adopted, wherein the anchoring positioning system consists of 4 groups of anchor machines which are respectively arranged on the left side and the right side of a main deck, each group of anchor machines is provided with 3 anchor chains, and each anchor chain adopts an R5-level mooring chain; the dynamic positioning system consists of 8 power propellers which are respectively arranged at the front corner and the rear corner of the bottom of the buoyancy tank and are rotated by 360 degrees.
The control method of the sea wave compensation device of the deepwater semi-submersible drilling platform disclosed in China patent publication (application number: 201510595873.6; grant publication number: CN 105253264B) is characterized by comprising three rigid columns which are arranged on the lower hull of the drilling platform and expose out of sea level and distributed in an equilateral triangle shape, wherein the upper surface of each rigid column is connected with a hydraulic cylinder through a spherical hinge, the end part of a piston rod of each hydraulic cylinder is connected with a bearing seat arranged on the lower surface of an upper workbench through a pin shaft, the hydraulic cylinders are connected with a hydraulic control system, and each hydraulic cylinder is independently controlled by the hydraulic control system.
With reference to the low-motion semi-submersible ocean platform, the patent can inhibit pitching motion of the semi-submersible ocean platform to a certain extent; with reference to the deepwater semi-submersible drilling platform, the invention can realize main deck roll and pitch compensation. The patent refers to a control method of a sea wave compensation device of a deepwater semi-submersible drilling platform, which compensates main heave, roll and pitch motions of the upper platform by controlling three hydraulic cylinders to stretch and retract. But in the face of high load requirements, it is not possible to achieve a level deck of the drilling platform.
Disclosure of Invention
The invention aims at overcoming the defects, and provides a sea wave compensation device and a control method for a high-load semi-submersible drilling platform, which are used for meeting the high load requirement of the large-scale semi-submersible drilling platform and realizing the constant horizontal deck of the drilling platform under the working conditions of transverse movement, longitudinal movement, heave and roll, pitch and yaw of the sea wave.
The invention is realized in the following way: the utility model provides a high bearing semi-submerged drilling platform wave compensation arrangement, includes the buoyancy tank, bears pillar, parallel attitude adjustment module, wave identification module, data processing module, control and drive module, drilling platform deck, the buoyancy tank is annular structure, sets up in semi-submerged drilling platform below and suspend in the sea below, the buoyancy tank effect relies on buoyancy to keep the drilling platform to float in the sea.
A bearing support column is connected above the buoyancy tank; the bearing support columns are cylindrical, the axes of the bearing support columns are positioned on the circumference of the circumscribing circle, the included angles from the axes of the adjacent bearing support columns to the center of the circumscribing circle are equal, the bearing capacity is ensured to be uniformly distributed, and the bearing support columns are connected with the parallel posture adjustment module;
the parallel gesture adjusting module is connected with a drilling platform deck; the parallel posture adjustment module is positioned between the bearing support column and the deck of the drilling platform; the number of the bearing struts is equal to that of the parallel gesture adjusting modules;
the parallel gesture adjusting module comprises an upper platform, an upper bearing seat, an upper hook joint, a linear motion unit, a thrust bearing, a lower hook joint, a lower bearing seat and a lower platform; one surface of the upper platform is connected with a drilling platform deck, the other surface of the upper platform is connected with an upper bearing seat, the upper bearing seat is connected with an upper hook joint, one end of the linear motion unit is connected with the upper hook joint, the other end of the linear motion unit is connected with a thrust bearing, the linear motion unit can rotate around an axis, and the linear motion unit comprises a cylinder barrel and a steel column, and the cylinder barrel and the steel column can realize radial expansion; the thrust bearing is connected with a lower hook hinge, the lower hook hinge is connected with a lower bearing seat, the lower hook hinge and the lower bearing seat form two groups of rotating joints with mutually perpendicular axes, and the lower bearing seat is connected with a lower platform;
the sea wave identification module comprises a gyroscope and an acoustic wave tester, and the gyroscope and the acoustic wave tester are arranged above the buoyancy tank; the acoustic wave tester is used for measuring the wave flow direction, the flow speed and the wave height data, and the gyroscope is used for measuring the position and the gesture of the buoyancy tank relative to the deck of the drilling platform;
the data processing module is positioned above the deck of the drilling platform, processes the data obtained by the sea wave identification module, and solves the driving data of the linear motion unit according to the sea wave and floating box pose data;
the control and driving module is positioned above the deck of the drilling platform, and drives the linear motion unit to move according to the linear motion unit driving data obtained by the data processing module, so that the semi-submersible drilling platform can realize the composite motion compensation of wave transverse movement, longitudinal movement, heave and roll, pitch and yaw.
The deck of the drilling platform is square.
The upper platform is fixedly connected to the lower part of the drilling platform deck.
The lower platform is fixedly connected above the bearing support column.
The buoyancy tank is arranged below the semi-submersible drilling platform and is suspended below the sea surface, and the buoyancy tank keeps the drilling platform floating on the sea surface under the action of buoyancy.
A control method of a sea wave compensation device of a high-bearing semi-submersible drilling platform comprises the following steps:
s1, establishing a system dynamics equation based on working space according to structural characteristics of a semi-submersible drilling platformWherein F is ff Represents a joint driving force matrix>Representing a system quality matrix, < >>Representing the matrix of coriolis force and centrifugal force, +.>Representing the gravity matrix +.>Representing the central expected acceleration of the parallel gesture adjusting module, < >>And representing the expected speed of the center of the parallel gesture adjusting module. X is X d Representing the expected displacement of the center of the parallel posture adjustment module;
s2, measuring an initial state buoyancy tank coordinate system O by using a gyroscope of the sea wave identification module 2 -x 2 y 2 z 2 Relative drilling platform deck coordinate system O 0 -x 0 y 0 z 0 Pose of (2) by using pose matrixR represents 0 Is a buoyancy tank posture matrix, p 0 = (a b c)' is a buoyancy tank position matrix, wherein a represents a buoyancy tank lateral movement amount, b represents a buoyancy tank longitudinal movement amount, and c represents a buoyancy tank heave amount;
s3, combining the floating box coordinate system O 2 -x 2 y 2 z 2 Relative deck coordinate system O 0 -x 0 y 0 z 0 Pose matrix is converted into a parallel pose adjustment module center coordinate system O 1 -x 1 y 1 z 1 Pose matrix of (2), pose matrixConsider parallel posture adjustment module center coordinate system O 1 -x 1 y 1 z 1 And the buoyancy tank coordinate system O 2 -x 2 y 2 z 2 Unchanged posture, R 1 ＝R 0 Position vector p 1 = (ab c+h)', h is the parallel gesture adjustment module center coordinate system O 1 -x 1 y 1 z 1 And the buoyancy tank coordinate system O 2 -x 2 y 2 z 2 Is of a height of (2);
s4, measuring wave flow direction, flow speed and wave height data by an acoustic wave tester of the wave identification module;
s5, the data processing module converts the sea wave information into expected pose parameters of the buoyancy tank,the expected position and the posture of the buoyancy tank are expressed by a posture matrixR' 0 Expected posture matrix of buoyancy tank, p' 0 The central coordinate system O of the parallel posture adjustment module after the change along with the sea wave is further obtained as a buoyancy tank position matrix 1 -x 1 y 1 z 1 Relative deck coordinate system O 0 -x 0 y 0 z 0 Pose matrix of (a)
S6, solving the pose matrix T of the parallel pose adjustment module central coordinate system 1 To the desired movement to T 1 When 'the semi-submersible drilling platform sea wave compensation device equivalent parallel model's kinematic pair P 1i (i=1, 2, 3) elongation l i (i＝1,2,3)；
S7, moving pair P of known equivalent parallel model 1i (i=1, 2, 3) elongation l i (i=1, 2, 3) solving the length l required to be moved by the linear motion unit driver according to the parallel posture adjustment module position inverse solution model ij (i＝1,2,…6)(j＝1,2,3)；
S8, driving each linear motion unit to move by the control and driving module ij (i=1, 2, …) and (j=1, 2, 3), solving the driving force tau of the linear motion unit of the semi-submersible drilling platform based on a joint space feedforward control algorithm, so that the buoyancy tank is consistent with the recognized sea wave position and posture;
and S1-S8, measuring and compensating sea waves in real time by the semi-submersible drilling platform system, and realizing the composite motion compensation of transverse movement, longitudinal movement, heave and roll, pitch and yaw of the sea waves.
Preferably, the feedforward control principle based on the joint space in step S8 is as follows: the data processing module compares the actual displacement q (t) of the linear motion unit with the ideal displacement q of the linear motion unit d Error difference e of (t) x Error difference e x Gain K with controller d s+K p The product yields the gain force term τ pd The method comprises the steps of carrying out a first treatment on the surface of the Parallel toneDesired displacement X of pose module center d Desired speedAnd desired acceleration->Substitution of the System dynamics equation in step S1 +.>Through the Leachi matrix J T Conversion to obtain the expected driving force tau of the linear motion unit ff . Gain force term τ pd And linear motion unit expected driving force τ ff The sum of the driving forces is used for obtaining the driving force tau of the semi-submersible drilling platform driving unit; consider the external disturbance F of a semi-submersible drilling platform d The comprehensive compensation of the transverse movement, the longitudinal movement, the heave and the roll, the pitch and the yaw of the semi-submersible drilling platform is realized through a feedforward control algorithm based on joint space.
Compared with the prior art, the invention has at least the following beneficial effects:
(1) The semi-submersible drilling platform buoyancy tank can reach any position in space along with sea waves, so that the lateral movement, longitudinal movement, heave and composite motion compensation of roll, pitch and yaw of the semi-submersible drilling platform are realized, and the stable operation of the drilling platform is ensured.
(2) Each bearing support column supports the drilling platform through the parallel attitude adjusting modules, the number of the parallel attitude adjusting modules can be matched according to the load of the drilling platform, and therefore the fact that multiple groups of parallel attitude adjusting modules bear the drilling platform and equipment together is achieved, and the parallel attitude adjusting system has the characteristics of being strong in bearing performance and good in stability.
(3) The feedforward control method of the semi-submersible drilling platform with the position and posture compensation capability based on the working space considers the self structure and the quality characteristics of the semi-submersible drilling platform, has the characteristics of high motion control precision and strong instantaneity, and realizes the accurate compensation of the semi-submersible drilling platform system on the sea wave motion.
Drawings
Fig. 1 is a schematic structural view of an embodiment of the present invention.
Fig. 2 is a schematic view of sea wave motion coordinates according to an embodiment of the present invention.
Fig. 3 is a block diagram of a parallel gesture adjusting module of the present invention.
Fig. 4 is an enlarged view at a.
Fig. 5 is an enlarged view at B.
Fig. 6 is a schematic diagram of a parallel gesture adjustment module of the present invention.
Fig. 7 is an equivalent model diagram of the present invention.
FIG. 8 is a flow chart of the control method of the present invention.
FIG. 9 is a schematic diagram of workspace-based feedforward control of the present invention.
Fig. 10 is a schematic block diagram of the wave identification module of the present invention.
Fig. 11 is a schematic structural view of another embodiment of the present invention.
The device comprises a buoyancy tank 1, a gyroscope 11, an acoustic wave tester 12, a data processing module 13, a control and driving module 14, a bearing pillar 2, a parallel posture adjusting module 3, a lower platform 31, a lower bearing seat 32, a lower Hooke hinge 33, a thrust bearing 34, a linear motion unit 35, an upper bearing seat 36, an upper Hooke hinge 37, an upper platform 38 and a deck of a drilling platform 4.
Detailed Description
The invention is further elucidated below in connection with the accompanying drawings.
In a first embodiment, as shown in fig. 1 and 2, a sea wave compensation device for a high-bearing semi-submersible drilling platform comprises a buoyancy tank 1, a bearing support column 2, a parallel posture adjustment module 3, a sea wave identification module, a data processing module 13, a control and driving module 14 and a drilling platform deck 4.
The buoyancy tanks 1 are of annular structures, are arranged below the semi-submersible drilling platform and suspend below the sea surface, and the buoyancy tanks 1 are used for keeping the drilling platform floating on the sea surface by means of buoyancy.
The bearing support posts 2 are cylindrical, the bearing support posts 2 are positioned above the annular buoyancy tank, the axes of the bearing support posts 2 are positioned on the circumference of a specific circumcircle, and the included angles from the axes of the adjacent bearing support posts 2 to the circumcircle are equal, so that the bearing capacity is ensured to be evenly distributed.
As shown in fig. 3, 4 and 5, the parallel posture adjustment module 3 is located between the bearing post 2 and the drilling platform deck 4, the parallel posture adjustment module 3 includes a lower platform 31, a lower bearing seat 32, a lower hook hinge 33, a thrust bearing 34, a linear motion unit 35, an upper bearing seat 36, an upper hook hinge 37 and an upper platform 38, the lower platform 31 is circular, the lower platform 31 is connected above the bearing post 2, the lower bearing seat 32 is connected with the lower platform 1 and the lower hook hinge 33, the lower hook hinge 33 and the lower bearing seat 32 form two sets of rotation joints with mutually perpendicular axes, the thrust bearing 34 is connected with the linear motion unit 35, the linear motion unit 35 can rotate around the axes, a cylinder barrel and a steel column of the linear motion unit 35 can realize radial expansion, the upper hook hinge 37 and the upper bearing seat 36 form two sets of rotation joints with mutually perpendicular axes, the upper bearing seat 36 is connected with the upper platform 38, and the upper platform 38 is connected with the drilling platform deck 4. The parallel gesture adjusting modules 3 are equal to the bearing struts 2 in number, and the parallel gesture adjusting modules 3 are used for the combined motion compensation of lateral movement, longitudinal movement, heave movement, roll movement, pitching movement and bow movement of the semi-submersible drilling platform.
The wave recognition module comprises a gyroscope 11 and an acoustic wave tester 12, the gyroscope 11 and the acoustic wave tester 12 are arranged above the buoyancy tank 1, the acoustic wave tester 12 is used for measuring wave flow direction, flow speed and wave height data, and the gyroscope 11 is used for measuring the position and the gesture of the buoyancy tank relative to the deck 4 of the drilling platform.
The data processing module 13 processes the data obtained by the sea wave recognition module, and solves the driving data of the linear motion unit 35 according to the sea wave and the pose data of the buoyancy tank 1.
The control and driving module 14 drives the linear motion unit 35 to move according to the driving data of the linear motion unit 35 obtained by the data processing module 13, so that the semi-submersible drilling platform can realize the composite motion compensation of wave transverse movement, longitudinal movement, heave and roll, pitch and yaw.
The drilling platform deck 4 is square and is used for connecting the parallel attitude adjustment module 3, and drilling equipment is arranged above the drilling platform deck 4.
A control method of a sea wave compensation device of a high-bearing semi-submersible drilling platform comprises the following steps:
s1, eiEstablishing a system dynamics equation based on working space according to structural characteristics of semi-submersible drilling platformWherein F is ff Represents a joint driving force matrix>Representing a system quality matrix, < >>Representing the matrix of coriolis force and centrifugal force, +.>Representing the gravity matrix +.>Indicating the expected acceleration of the center of the parallel gesture adjusting module 3,/->Representing the expected speed of the center of the parallel gesture adjusting module 3. X is X d And indicating the expected displacement of the center of the parallel gesture adjusting module.
S2, as shown in FIG. 7, the gyroscope 11 of the sea wave identification module measures the initial state buoyancy tank 1 coordinate system O 2 -x 2 y 2 z 2 Relative drilling platform deck 4 coordinate system O 0 -x 0 y 0 z 0 Pose of (2) by using pose matrixR represents 0 Is a buoyancy tank 1 posture matrix, p 0 = (ab c)' is the buoyancy tank 1 position matrix.
S3, the buoyancy tank 1 coordinate system O 2 -x 2 y 2 z 2 Relative drilling platform deck 4 coordinate system O 0 -x 0 y 0 z 0 Pose matrix is converted into a central coordinate system O of the parallel pose adjusting module 3 1 -x 1 y 1 z 1 Pose matrix, position of (a)Gesture matrixConsider the parallel posture adjustment module 3 center coordinate system O 1 -x 1 y 1 z 1 And the buoyancy tank 1 coordinate system O 2 -x 2 y 2 z 2 Unchanged posture, R 1 ＝R 0 Position vector p 1 = (ab c+h)', h is the parallel gesture adjustment module 3 central coordinate system O 1 -x 1 y 1 z 1 And the buoyancy tank 1 coordinate system O 2 -x 2 y 2 z 2 Is a high level of (2).
S4, measuring wave flow direction, flow speed and wave height data by the acoustic wave tester 12 of the wave identification module.
S5, converting the sea wave information into expected position and posture parameters of the buoyancy tank 1 by the data processing module 13, wherein the expected position and posture of the buoyancy tank 1 are represented by a posture matrixR' 0 Expected attitude matrix for buoyancy tank 1, p' 0 The central coordinate system O of the parallel posture adjusting module 3 after the change along with the sea wave is further obtained for the position matrix of the buoyancy tank 1 1 -x 1 y 1 z 1 Relative drilling platform deck 4 coordinate system O 0 -x 0 y 0 z 0 Pose matrix->
S6, solving the pose matrix T of the parallel pose adjustment module 3 central coordinate system 1 To the desired movement to T 1 When' as shown in fig. 7, the semi-submersible drilling platform sea wave compensation device is equivalent to the moving pair P of the parallel model 1i (i=1, 2, 3) elongation l i (i＝1,2,3)。
S7, known as an equivalent parallel model shown in FIG. 7, a moving pair P 1i (i=1, 2, 3) elongation l i (i=1, 2, 3), solving the length l required to be moved by the driver of the linear motion unit 35 according to the parallel posture adjustment module 3 position inverse solution model ij (i＝1,2,…6)(j＝1,2,3)。
S8, the control and driving module 14 drives each linear motion unit 35 to move l ij And (i=1, 2, …) and (j=1, 2, 3), solving the driving force tau of the linear motion unit 35 of the semi-submersible drilling platform based on a joint space feedforward control algorithm, so that the buoyancy tank 1 is consistent with the recognized sea wave position and posture.
And S1-S8, measuring and compensating the sea waves in real time by the semi-submersible drilling platform system, and realizing the composite motion compensation of the transverse movement, longitudinal movement, heave and roll, pitch and yaw of the sea waves.
The feedforward control principle based on the joint space in step S8 is as follows:
as shown in fig. 9, the data processing module 13 compares the actual displacement q (t) of the linear motion unit 35 with the ideal displacement q of the linear motion unit 35 d Error difference e of (t) x Error difference e x Gain K with controller d s+K p The product yields the gain force term τ pd . Desired displacement X of the parallel gesture adjustment module 3 d Desired speedAnd desired acceleration->Substitution of the System dynamics equation in step S1 +.>Through the Leachi matrix J T Conversion to obtain the desired driving force τ of the linear motion unit 35 ff . Gain force term τ pd And the linear motion unit 35 expects a driving force τ ff The sum of which results in the driving force tau of the semi-submersible drive unit. Consider the external disturbance F of the semi-submersible system d The comprehensive compensation of the transverse movement, the longitudinal movement, the heave and the roll, the pitch and the yaw of the semi-submersible drilling platform is realized through a feedforward control algorithm based on joint space.
In the second embodiment, as shown in fig. 11, the number of the bearing struts 2 and the parallel posture adjusting modules 3 is 6, and the sea wave compensation device for the high-bearing semi-submersible drilling platform and the control method thereof provided by the embodiment are similar to those of the first embodiment.
Finally, it should be noted that: the embodiments described above are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (7)
1. The utility model provides a high bearing semi-submerged drilling platform wave compensation arrangement, includes buoyancy tank (1), bears pillar (2), drilling platform deck (4), its characterized in that: the buoyancy tank (1) is of an annular structure, and a bearing support column (2) is connected above the buoyancy tank (1);
the bearing support posts (2) are cylindrical, the axes of the bearing support posts (2) are positioned on the circumference of the circumscribing circle, the included angles from the axes of the adjacent bearing support posts (2) to the center of the circumscribing circle are equal, the bearing capacity is ensured to be uniformly distributed, and the bearing support posts (2) are connected with the parallel posture adjustment module (3);
the parallel gesture adjusting module (3) is connected with a drilling platform deck (4); the parallel posture adjustment module is positioned between the bearing support column (2) and the drilling platform deck (4); the number of the bearing struts (2) is equal to that of the parallel gesture adjusting modules (3);
the parallel gesture adjusting module (3) comprises an upper platform (38), an upper bearing seat (36), an upper hook hinge (37), a linear motion unit (35), a thrust bearing (34), a lower hook hinge (33), a lower bearing seat (32) and a lower platform (31); one surface of the upper platform (38) is connected with the drilling platform deck (4), the other surface of the upper platform is connected with the upper bearing seat (36), the upper bearing seat (36) is connected with an upper hook hinge (37), one end of the linear motion unit (35) is connected with the upper hook hinge (37), the other end of the linear motion unit (35) is connected with the thrust bearing (34), the linear motion unit (35) can rotate around an axis, the linear motion unit (35) comprises a cylinder barrel and a steel column, and the cylinder barrel and the steel column can realize radial expansion; the thrust bearing (34) is connected with a lower hook hinge (33), the lower hook hinge (33) and a lower bearing seat (32) form two groups of rotating joints with mutually perpendicular axes, and the lower bearing seat (32) is connected with a lower platform (31);
the sea wave identification module comprises a gyroscope (11) and an acoustic wave tester (12), wherein the gyroscope (11) and the acoustic wave tester (12) are arranged above the buoyancy tank (1); the acoustic wave tester (12) is used for measuring the wave flow direction, the flow speed and the wave height data, and the gyroscope (11) is used for measuring the position and the posture of the buoyancy tank (1) relative to the drilling platform deck (4);
the data processing module (13) is positioned above the deck (4) of the drilling platform, the data processing module (13) processes the data obtained by the sea wave recognition module, and the driving data of the linear motion unit (35) are solved according to the sea wave and the pose data of the buoyancy tank (1);
the control and driving module (14) is positioned above the deck (4) of the drilling platform, and the control and driving module (14) drives the linear motion unit (35) to move according to the driving data of the linear motion unit (35) obtained by the data processing module (13) so as to realize the composite motion compensation of the semi-submersible drilling platform on wave transverse movement, longitudinal movement, heave and roll, pitch and yaw.
2. The high-load-bearing semi-submersible drilling platform sea wave compensation device of claim 1, wherein: the drilling platform deck (4) is square and is used for installing drilling equipment and personnel activities.
3. The high-load-bearing semi-submersible drilling platform sea wave compensation device of claim 1, wherein: the upper platform (38) is fixedly connected below the drilling platform deck (4).
4. The high-load-bearing semi-submersible drilling platform sea wave compensation device of claim 1, wherein: the lower platform (31) is fixedly connected above the bearing support column (2).
5. The high-load-bearing semi-submersible drilling platform sea wave compensation device of claim 1, wherein: the buoyancy tank (1) is arranged below the semi-submersible drilling platform and is suspended below the sea surface, and the buoyancy tank (1) acts to keep the drilling platform floating on the sea surface by means of buoyancy.
6. A method of controlling a high load semi-submersible rig sea wave compensation apparatus as claimed in any one of claims 1 to 5, comprising the steps of:
s1, establishing a system dynamics equation based on working space according to structural characteristics of a semi-submersible drilling platformWherein F is ff Represents a joint driving force matrix>Representing a system quality matrix, < >>Representing the matrix of coriolis force and centrifugal force, +.>Representing the gravity matrix +.>Representing the central expected acceleration of the parallel gesture adjusting module (3)>Representing the expected speed X of the center of the parallel gesture adjusting module (3) d Representing the expected displacement of the center of the parallel gesture adjusting module (3);
s2, measuring a coordinate system O of the buoyancy tank (1) in an initial state by using a gyroscope (11) of the sea wave identification module 2 -x 2 y 2 z 2 Relative to the drilling platform deck (4) coordinate system O 0 -x 0 y 0 z 0 Pose of (2) by using pose matrixR represents 0 Is a floating box (1) poseState matrix, p 0 = (ab)' is a position matrix of the buoyancy tank (1), wherein a represents the lateral movement amount of the buoyancy tank (1), b represents the longitudinal movement amount of the buoyancy tank (1), and c represents the heave amount of the buoyancy tank (1);
s3, the floating box (1) coordinate system O 2 -x 2 y 2 z 2 Relative deck coordinate system O 0 -x 0 y 0 z 0 The pose matrix is converted into a central coordinate system O of the parallel pose adjusting module (3) 1 -x 1 y 1 z 1 Pose matrix of (2), pose matrixConsider the parallel posture adjustment module (3) center coordinate system O 1 -x 1 y 1 z 1 And a buoyancy tank (1) coordinate system O 2 -x 2 y 2 z 2 Unchanged posture, R 1 ＝R 0 Position vector, p 1 = (ab c+h)', h is the central coordinate system O of the parallel gesture adjusting module (3) 1 -x 1 y 1 z 1 And a buoyancy tank (1) coordinate system O 2 -x 2 y 2 z 2 Is of a height of (2);
s4, measuring wave flow direction, flow speed and wave height data by an acoustic wave tester (12) of the wave identification module;
s5, the data processing module (13) converts the sea wave information into expected position and posture parameters of the buoyancy tank (1), and the expected position and posture of the buoyancy tank (1) are represented by a posture matrixR' 0 Expected posture matrix of buoyancy tank (1), p' 0 The central coordinate system O of the parallel posture adjusting module (3) after the change along with the sea wave is further obtained for the position matrix of the buoyancy tank (1) 1 -x 1 y 1 z 1 Relative deck coordinate system O 0 -x 0 y 0 z 0 Pose matrix->
S6, solving a pose matrix T of a central coordinate system of the parallel pose adjustment module (3) 1 To the desired levelMove to T 1 When 'the semi-submersible drilling platform sea wave compensation device equivalent parallel model's kinematic pair P 1i (i=1, 2, 3) elongation l i (i＝1,2,3)；
S7, knowing a moving pair P of the equivalent parallel model 1i (i=1, 2, 3) elongation l i (i=1, 2, 3), solving the length l required to be moved by the linear motion unit (35) driver according to the parallel posture adjustment module (3) position inverse solution model ij (i＝1,2,…6)(j＝1,2,3)；
S8, the control and driving module (14) drives each linear motion unit (35) to move ij (i=1, 2, …) and (j=1, 2, 3), solving the driving force tau of the linear motion unit (35) of the semi-submersible drilling platform based on a joint space feedforward control algorithm, so that the position and the gesture of the buoyancy tank (1) are consistent with those of the recognized sea wave;
and S1-S8, the composite motion compensation of wave transverse movement, longitudinal movement, heave and roll, pitch and yaw is realized.
7. The control method of the sea wave compensation device of the high-bearing semi-submersible drilling platform according to claim 6, wherein in step S8, a feedforward control algorithm based on joint space is solved as follows: the data processing module (13) compares the actual displacement q (t) of the linear motion unit (35) with the ideal displacement q of the linear motion unit (35) d Error difference e of (t) x Error difference e x Gain K with controller d s+K p The product yields the gain force term τ pd The method comprises the steps of carrying out a first treatment on the surface of the Expected displacement X of center of parallel posture adjusting module (3) d Desired speedAnd desired acceleration->Substitution of the System dynamics equation in step S1 +.>Through the Leachi matrix J T Conversion to obtain the desired drive of the linear motion unit (35)Force τ ff The method comprises the steps of carrying out a first treatment on the surface of the Gain force term τ pd And a linear motion unit (35) expects a driving force tau ff The sum of the driving forces is used for obtaining the driving force tau of the semi-submersible drilling platform driving unit; consider the external disturbance F of a semi-submersible drilling platform d The comprehensive compensation of transverse movement, longitudinal movement, heave and roll, pitching and bow of the semi-submersible drilling platform is realized.
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