CN114735139B - Offshore parallel-by-replenishment wave compensation control method and control device - Google Patents
Offshore parallel-by-replenishment wave compensation control method and control device Download PDFInfo
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- CN114735139B CN114735139B CN202210293279.1A CN202210293279A CN114735139B CN 114735139 B CN114735139 B CN 114735139B CN 202210293279 A CN202210293279 A CN 202210293279A CN 114735139 B CN114735139 B CN 114735139B
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
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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
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
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Abstract
The disclosure provides a compensation control method and a control device for offshore supplementary waves, and belongs to the technical field of offshore supplementary waves. And obtaining the initial heave displacement difference and the real-time heave displacement difference of the receiving ship and the replenishing ship. The method comprises the steps of obtaining the height of an initial replenishment cargo sling of a crane on a receiving ship and the height of a real-time replenishment cargo sling of the crane. And adjusting the height of the cargo replenishing sling of the crane until the difference between the real-time heave displacement difference and the initial heave displacement difference is equal to the difference between the height of the real-time cargo replenishing sling and the height of the initial cargo replenishing sling so as to complete wave compensation. The height change of the replenishment cargo lifting appliance is equal to the change of the height of the receiving ship relative to the replenishment ship, the distance between the replenishment cargo connected with the replenishment cargo lifting appliance and the deck of the receiving ship is unchanged, the possibility of collision between the replenishment cargo and the deck of the receiving ship is reduced, and the offshore replenishment safety is improved.
Description
Technical Field
The disclosure relates to the technical field of offshore replenishment, in particular to a method and a device for compensating and controlling offshore waves.
Background
Offshore and alongside replenishment refers to an offshore operation that utilizes various replenishment equipment to perform material replenishment and personnel transfer on a ship at sea. The supply of various kinds of supply goods required for normal duty of ships is usually carried out by using a crane of the supply ship to ships which are sailing on the sea and are moving on the sea, and the ship which receives the supply goods is generally called a receiving ship.
The replenishment vessel typically transfers the replenishment cargo to the receiving vessel by a crane or a connecting rope is added between the replenishment vessel and the receiving vessel, and the replenishment cargo is suspended from the connecting rope to effect transfer of the replenishment cargo to the receiving vessel. The receiving ship and the replenishing ship can generate larger heave motion when being affected by sea waves due to the existence of different displacement and gravity center of the receiving ship and the replenishing ship. The heave motion between the receiving ship and the replenishing ship easily causes collision between replenishing cargoes controlled by the crane on the replenishing ship and the receiving ship, and damages or safety accidents are easily caused to some precise or dangerous replenishing cargoes, so that the offshore replenishing safety is influenced.
Disclosure of Invention
The embodiment of the disclosure provides a method and a device for compensating and controlling offshore and by-supplementing waves, which can reduce the possibility of collision between the supplementing goods and a receiving ship so as to improve the safety of offshore and by-supplementing. The technical scheme is as follows:
the embodiment of the disclosure provides a method for compensating control of offshore and by-supply waves, which comprises the following steps:
acquiring initial heave displacement difference and real-time heave displacement difference of a receiving vessel and a replenishing vessel, wherein the initial heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel at the moment of starting wave compensation, and the real-time heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel corresponding to the moment in real time in the wave compensation process;
acquiring the height of an initial cargo replenishment lifting appliance of a crane on the receiving ship and the height of a real-time cargo replenishment lifting appliance of the crane, wherein the height of the initial cargo replenishment lifting appliance is the height of the cargo replenishment lifting appliance of the crane at the moment when wave compensation starts, and the height of the real-time cargo replenishment lifting appliance is the height of the cargo replenishment lifting appliance of the crane corresponding to the real-time cargo replenishment lifting appliance of the crane in the wave compensation process;
and adjusting the height of the cargo replenishing sling of the crane until a first difference value is equal to a second difference value to finish the wave compensation, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the real-time cargo replenishing sling and the height of the initial cargo replenishing sling.
Optionally, the adjusting the height of the cargo replenishment spreader of the crane until the first difference is equal to the second difference includes:
and adjusting the speed of the cargo replenishment lifting appliance of the crane to adjust the height of the cargo replenishment lifting appliance until the first difference value is equal to the second difference value.
Optionally, the replenishment cargo sling is connected with a lifting winch of the crane through a connecting rope, the speed of the replenishment cargo sling is equal to the rotation linear speed of the lifting winch, the heave speed of the lifting winch is equal to the heave speed of the replenishment ship, the height of the replenishment cargo sling of the crane is adjusted until the first difference value is equal to the second difference value, and the method further comprises:
determining the compensation speed of the cargo replenishment spreader of the crane according to the difference between the first difference and the second difference at the moment of the wave compensation, the real-time heave speed of the receiving ship during the wave compensation and the real-time heave speed of the replenishment ship during the compensation;
and adjusting the height of the cargo replenishing lifting appliance according to the compensation speed until the first difference value is equal to the second difference value.
Optionally, determining a first adjustment linear speed of the lifting winch according to a difference between the first difference and the second difference at the moment of starting wave compensation by adopting a closed-loop control algorithm;
taking the difference between the real-time heave speed of the receiving ship and the real-time heave speed of the replenishing ship as a second regulating speed;
and taking the sum of the first regulating linear speed and the second regulating speed as the compensation speed of the cargo replenishing lifting appliance.
Optionally, the obtaining the initial heave displacement difference of the receiving vessel and the tender vessel comprises:
respectively obtaining the standard height of the receiving ship and the standard height of the replenishment ship at the relative target height of the receiving ship and the replenishment ship;
acquiring the initial height of the receiving ship at the moment of starting wave compensation and the initial height of the replenishment ship at the moment of starting wave compensation;
subtracting the standard height of the receiving ship from the initial height of the receiving ship to obtain initial displacement of the receiving ship;
subtracting the initial height of the replenishment ship from the initial height of the replenishment ship to obtain initial displacement of the replenishment ship;
and subtracting the initial displacement of the receiving ship from the initial displacement of the receiving ship to obtain the initial heave displacement difference of the obtained receiving ship and the replenishing ship.
Alternatively, the initial heave displacement difference is obtained using the following formula,
EH0＝H10-H20，
wherein EH0 is the initial heave displacement difference of the acquisition receiving vessel and the tender vessel; h10 is the initial displacement of the receiving ship; h20 said tender vessel initial displacement.
Optionally, after the initial replenishment cargo sling height of the crane on the receiving vessel and the real-time replenishment cargo sling height of the crane are obtained, the replenishment cargo sling height of the crane is adjusted until the first difference value and the second difference value are equal,
and acquiring the first difference value and the second difference value in real time.
Optionally, the offshore and by-replenishment wave compensation control method further comprises:
before the initial heave displacement difference and the real-time heave displacement difference of the receiving ship and the replenishing ship are obtained, judging whether to start wave compensation according to the distance between the replenishing cargo connected with the replenishing cargo lifting appliance and the deck of the receiving ship.
Optionally, wave compensation is turned on if the distance between the make-up cargo and the deck of the receiving vessel is less than or equal to two meters.
The embodiment of the disclosure provides a marine and by-supply wave compensation control device, the marine and by-supply wave compensation control device includes:
the system comprises a first data acquisition module, a second data acquisition module and a third data acquisition module, wherein the first data acquisition module is used for acquiring initial heave displacement difference and real-time heave displacement difference of a receiving ship and a replenishing ship, the initial heave displacement difference is the heave displacement difference between the replenishing ship and the receiving ship at the moment of wave compensation, and the real-time heave displacement difference is the heave displacement difference between the replenishing ship and the receiving ship corresponding to the moment in real time in the wave compensation process;
the second data acquisition module is used for acquiring the height of an initial cargo replenishment lifting appliance of the crane on the receiving ship and the height of a real-time cargo replenishment lifting appliance of the crane, wherein the height of the initial cargo replenishment lifting appliance is the height of the cargo replenishment lifting appliance of the crane at the moment when the wave compensation starts, and the height of the real-time cargo replenishment lifting appliance is the height of the cargo replenishment lifting appliance of the crane corresponding to the real-time cargo replenishment lifting appliance in the wave compensation process;
the processing module is used for adjusting the height of the goods replenishing lifting appliance of the crane until a first difference value is equal to a second difference value to finish the wave compensation, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the real-time goods replenishing lifting appliance and the height of the initial goods replenishing lifting appliance.
The technical scheme provided by the embodiment of the disclosure has the beneficial effects that:
and acquiring an initial heave displacement difference and a real-time heave displacement difference of the receiving vessel and the replenishing vessel, wherein the initial heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel at the moment of wave compensation starting, and the real-time heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel corresponding to the real-time in the wave compensation process. The initial heave displacement difference and the real-time heave displacement difference of the receiving ship and the replenishing ship can directly reflect the relative change of the receiving ship relative to the replenishing ship in height, so that the position relation between the replenishing cargo lifting appliance and the receiving ship can be conveniently determined subsequently. And acquiring the height of an initial replenishment cargo sling of the crane on the receiving ship and the height of a real-time replenishment cargo sling of the crane, wherein the height of the initial replenishment cargo sling is the height of the replenishment cargo sling of the crane at the moment when wave compensation starts, and the height of the real-time replenishment cargo sling is the height of the replenishment cargo sling of the crane corresponding to the real time in the wave compensation process. The height change of the replenishment cargo connected with the replenishment cargo sling can be directly reflected. And adjusting the height of the cargo replenishing sling of the crane until the first difference value is equal to the second difference value to complete wave compensation, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the cargo replenishing sling and the initial cargo replenishing sling. The first difference is equal to the second difference, and the change of the height of the replenishment cargo lifting appliance is equal to the change of the height of the receiving ship relative to the replenishment ship, so that the distance between the replenishment cargo connected with the replenishment cargo lifting appliance and the deck of the receiving ship is unchanged, the influence of waves on the offshore replenishment is eliminated to a certain extent, the possibility of collision between the replenishment cargo and the deck of the receiving ship is reduced, and the safety of the offshore replenishment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings that are required to be used in the description of the embodiments will be briefly introduced,
FIG. 1 is a flow chart of a method for offshore and by-make-up wave compensation control provided in an embodiment of the present disclosure;
FIG. 2 is a block diagram of an offshore and by-make-up wave compensation control device provided in accordance with an embodiment of the present disclosure;
FIG. 3 is a flow chart of another method of offshore and by-make-up wave compensation control provided by embodiments of the present disclosure.
Detailed Description
For the purposes of clarity, technical solutions and advantages of the present disclosure, the following further details of the embodiments of the present disclosure will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for compensating and controlling a wave by sea and by replenishment according to an embodiment of the present disclosure, and as shown in fig. 1, the embodiment of the present disclosure provides a method for compensating and controlling a wave by sea and by replenishment, which includes:
s101: and acquiring an initial heave displacement difference and a real-time heave displacement difference of the receiving vessel and the replenishing vessel, wherein the initial heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel at the moment of wave compensation starting, and the real-time heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel corresponding to the real-time in the wave compensation process.
S102: the method comprises the steps of obtaining the height of an initial replenishment cargo sling of a crane on a receiving ship and the height of a real-time replenishment cargo sling of the crane, wherein the height of the initial replenishment cargo sling is the height of the replenishment cargo sling of the crane at the moment when wave compensation starts, and the height of the real-time replenishment cargo sling is the height of the replenishment cargo sling of the crane corresponding to the real-time in the wave compensation process.
S103: and adjusting the height of the cargo replenishing sling of the crane until the first difference value is equal to the second difference value to finish wave compensation, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the cargo replenishing sling and the initial cargo replenishing sling.
And acquiring an initial heave displacement difference and a real-time heave displacement difference of the receiving vessel and the replenishing vessel, wherein the initial heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel at the moment of wave compensation starting, and the real-time heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel corresponding to the real-time in the wave compensation process. The initial heave displacement difference and the real-time heave displacement difference of the receiving ship and the replenishing ship can directly reflect the relative change of the receiving ship relative to the replenishing ship in height, so that the position relation between the replenishing cargo lifting appliance and the receiving ship can be conveniently determined subsequently. And acquiring the height of an initial replenishment cargo sling of the crane on the receiving ship and the height of a real-time replenishment cargo sling of the crane, wherein the height of the initial replenishment cargo sling is the height of the replenishment cargo sling of the crane at the moment when wave compensation starts, and the height of the real-time replenishment cargo sling is the height of the replenishment cargo sling of the crane corresponding to the real time in the wave compensation process. The height change of the replenishment cargo connected with the replenishment cargo sling can be directly reflected. And adjusting the height of the cargo replenishing sling of the crane until the first difference value is equal to the second difference value to complete wave compensation, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the cargo replenishing sling and the initial cargo replenishing sling. The first difference is equal to the second difference, and the change of the height of the replenishment cargo lifting appliance is equal to the change of the height of the receiving ship relative to the replenishment ship, so that the distance between the replenishment cargo connected with the replenishment cargo lifting appliance and the deck of the receiving ship is unchanged, the influence of waves on the offshore replenishment is eliminated to a certain extent, the possibility of collision between the replenishment cargo and the deck of the receiving ship is reduced, and the safety of the offshore replenishment is improved. And the first difference value and the second difference value can respectively and accurately reflect the height change of the receiving ship relative to the replenishment ship and the height change of the replenishment cargo, and the first difference value can also eliminate partial errors caused by intermediate parameters, so that the accuracy of a control result can be ensured, the possibility of collision between the replenishment cargo and the receiving ship is further reduced, and the finally obtained offshore and reliable replenishment safety is effectively improved.
It should be noted that, in the implementation manner provided in the present disclosure, wave compensation refers to a process of adjusting the height of the replenishment cargo connected to the replenishment cargo spreader by adjusting the height of the replenishment cargo spreader to offset a height difference between the replenishment cargo and the deck of the receiving ship caused by the ocean storms. Ensuring that the replenishment cargo can be stably and safely transferred to the receiving ship. Wave compensation may be accomplished at the instant when the first difference equals the second difference.
For ease of understanding, the following formula may be provided herein, and the first difference and the second difference may be determined by the following formula.
EHt＝ (H1t- H2t)- EH0 (1)；
ELt＝Lt-L0 ＝ EHt (2)；
In the formula (1), eht is a first difference value, (H1 t-H2 t) is a real-time heave displacement difference of the receiving ship relative to the supply ship, and EH0 is an initial heave displacement difference of the receiving ship relative to the supply ship; in the formula (2), elt is a second difference value, lt is the height of the real-time replenishment cargo spreader, and L0 is the height of the initial replenishment cargo spreader. It may be convenient to determine the first difference and the second difference and to determine if the first difference is equal to the second difference.
Optionally, in step S103, adjusting the height of the cargo replenishment spreader of the crane until the first difference is equal to the second difference, including:
and adjusting the speed of the cargo replenishment lifting appliance of the crane to adjust the height of the cargo replenishment lifting appliance until the first difference value is equal to the second difference value.
In the wave compensation process, the time required by wave compensation can be shortened by changing the speed of the cargo replenishment lifting appliance to reduce the time required for reaching the first difference value equal to the second difference value, so that the time required by adjusting the height of the cargo replenishment relative to the receiving ship is quick, and the possibility of collision between the cargo replenishment and the receiving ship is reduced. The safety of offshore and by-supply can be improved.
It should be noted that, in the implementation manner provided by the present disclosure, the replenishment cargo spreader is connected to the lifting winch of the crane through the connection rope, the speed of the replenishment cargo spreader is equal to the rotation linear speed of the lifting winch, and the heave speed of the lifting winch is equal to the heave speed of the replenishment ship.
Optionally, in step S103, adjusting the height of the cargo replenishment spreader of the crane until the first difference is equal to the second difference, and further including:
determining the compensation speed of a cargo replenishment lifting appliance of the crane according to the difference between the first difference and the second difference at the moment of wave compensation starting, the real-time heave speed of the receiving ship in the wave compensation process and the real-time heave speed of the replenishment ship in the compensation process; and adjusting the height of the cargo sling according to the compensation speed until the first difference value is equal to the second difference value.
The height of the replenishing cargo lifting appliance is adjusted according to the compensation speed, the purpose that the first difference value is equal to the second difference value can be achieved relatively quickly, and the replenishing cargo connected with the replenishing cargo lifting appliance is adjusted quickly. The compensation speed is determined according to the difference between the first difference value and the second difference value at the moment of wave compensation starting and the real-time heave speed of the receiving ship in the wave compensation process and the real-time heave speed of the replenishing ship in the compensation process, the delay effect of calculating the compensation speed is considered, the relative displacement difference possibly generated by the influence of external force on the receiving ship and the replenishing ship in the wave compensation process is dynamically counteracted, the purpose that the first difference value is equal to the second difference value can be achieved more quickly, the distance between the replenishing cargo and the receiving ship is ensured to be more stable, and the possibility of collision between the replenishing cargo and the receiving ship is reduced.
The real-time heave speed of the receiving ship and the real-time heave speed of the supplying ship are respectively the heave speed of the receiving ship and the heave speed of the supplying ship corresponding to the real-time heave speed in the wave compensation process. In an implementation to which the present disclosure relates, heave displacement and heave velocity are displacement and velocity, respectively, of the receiving vessel or the tender vessel in a direction perpendicular to the horizontal plane within the area.
In other implementations provided by the present disclosure, the compensation speed may also be determined only according to the difference between the first difference and the second difference at the moment when wave compensation begins, which is not limited by the present disclosure.
Optionally, step S103 includes: determining a first adjusting linear speed of the lifting winch according to the difference between the first difference and the second difference at the moment of starting wave compensation by adopting a closed-loop control algorithm; taking the difference between the real-time heave speed of the receiving ship and the real-time heave speed of the supplying ship as a second regulating speed; taking the sum of the first regulating linear speed and the second regulating speed as the compensation speed of the cargo sling.
The first adjusting linear speed of the lifting winch is determined according to the difference between the first difference and the second difference at the moment of wave compensation starting by adopting a closed-loop control algorithm, so that the rotation of the lifting winch can be controlled more stably, the difference between the real-time heave speed of the receiving ship and the real-time heave speed of the replenishment ship is used as the second adjusting speed, the compensation speed is obtained, and the quick and stable adjusting process of the replenishment cargo lifting appliance can be ensured while calculation is facilitated.
In other implementations provided by the present disclosure, the first adjusted linear velocity may also be determined based on interpolation or empirically, which is not limited by the present disclosure. The compensation speed of the lifting winch can be determined by only considering the difference between the first difference value and the second difference value in the process of adjusting the height of the replenishing cargo lifting appliance, and the method is not limited in this disclosure.
The compensation speed is smaller than the maximum linear speed corresponding to the rated rotation speed of the lifting winch. In the implementation provided in the present disclosure, the steps S101 and S102 shown in fig. 1 may be continuously performed after the wave compensation is turned on. The wave compensation may also be switched on in case the first difference is not equal to the second difference. The present disclosure is not limited in this regard.
Fig. 2 is a block diagram of an offshore and by-replenishment wave compensation control device according to an embodiment of the present disclosure, and referring to fig. 2, it can be seen that the embodiment of the present disclosure provides an offshore and by-replenishment wave compensation control device, which includes:
the first data acquisition module 1 is used for acquiring initial heave displacement difference and real-time heave displacement difference of the receiving ship and the replenishing ship, wherein the initial heave displacement difference is the heave displacement difference between the replenishing ship and the receiving ship at the moment of wave compensation starting, and the real-time heave displacement difference is the heave displacement difference between the replenishing ship and the receiving ship corresponding to the real-time in the wave compensation process.
The second data acquisition module 2 is used for acquiring the height of an initial replenishment cargo sling of the crane on the receiving ship and the height of a real-time replenishment cargo sling of the crane, wherein the height of the initial replenishment cargo sling is the height of the replenishment cargo sling of the crane at the moment of wave compensation starting, and the height of the real-time replenishment cargo sling is the height of the replenishment cargo sling of the crane corresponding to the real-time during wave compensation.
The processing module 3 is used for adjusting the height of the cargo replenishing sling of the crane until the first difference value is equal to the second difference value to complete wave compensation, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the cargo replenishing sling in real time and the height of the cargo replenishing sling in initial.
In implementations provided by the present disclosure, the acquisition module may include a distance, displacement, or velocity sensor and the processing module may include a processor. And the molding of the control device is facilitated.
The technical effects corresponding to the offshore and by-compensating wave compensation control device in fig. 2 can refer to the technical effects corresponding to the offshore and by-compensating wave compensation control method shown in fig. 1, and thus will not be described herein.
FIG. 3 is a flowchart of another method for compensating for and controlling waves by sea according to an embodiment of the present disclosure, and referring to FIG. 3, it can be seen that the method for compensating for and controlling waves by sea may include:
s201: judging whether to start wave compensation according to the distance between the replenishment cargo connected with the replenishment cargo lifting appliance and the deck of the receiving ship. And if the distance between the supplied cargo and the deck of the receiving ship is less than or equal to two meters, starting wave compensation.
Before the wave compensation is started, whether the wave compensation is started or not is judged according to the distance between the supplied cargo connected with the supplied cargo lifting appliance and the deck of the receiving ship, so that the situation that the distance between the supplied cargo lifting appliance and the deck of the receiving ship is large and the safety risk cannot be generated can be ensured, and the whole energy consumption of the crane can be reduced. When the distance between the supplied goods and the deck of the receiving ship is smaller, the wave compensation is started again, so that the stability of the sea and the supply can be ensured, and meanwhile, the resource waste is effectively avoided. When the distance between the supplied goods and the deck of the receiving ship is smaller than or equal to two meters, the wave compensation is started, so that the possibility of collision between the supplied goods and the deck of the receiving ship can be effectively reduced, and the safety of offshore and by-supply is effectively improved.
For example, the distance between the replenishment cargo and the deck of the receiving vessel may be obtained by a similar displacement sensor or laser gauge. The distance between the replenishment cargo and the deck of the receiving vessel is conveniently determined.
The signals of the device for measuring the distance between the replenishment cargo and the deck of the receiving vessel may be transmitted to and processed by the processing module.
In one implementation provided by the present disclosure, wave compensation may be continuously turned on with a distance between the tender cargo and the deck of the receiving vessel of less than or equal to two meters.
S202: and acquiring an initial heave displacement difference and a real-time heave displacement difference of the receiving vessel and the replenishing vessel, wherein the initial heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel at the moment of wave compensation starting, and the real-time heave displacement difference is the heave displacement difference between the replenishing vessel and the receiving vessel corresponding to the real-time in the wave compensation process.
Optionally, in step S202, obtaining an initial heave displacement difference between the receiving vessel and the tender vessel includes:
respectively obtaining the standard height of the receiving ship and the standard height of the replenishment ship; acquiring the initial height of a receiving ship at the moment of starting wave compensation and the initial height of a replenishment ship at the moment of starting wave compensation; obtaining initial displacement of the receiving ship by subtracting the standard height of the receiving ship from the initial height of the receiving ship; the initial displacement of the replenishment ship is obtained by subtracting the initial height of the replenishment ship from the initial height of the replenishment ship; and obtaining the initial heave displacement difference between the receiving ship and the supplementing ship by subtracting the initial displacement of the receiving ship from the initial displacement of the receiving ship.
By adopting the mode, more accurate data can be obtained, so that the speed or the height of the subsequent goods replenishing lifting appliance can be accurately controlled. Improving the safety of offshore and by-supply.
Alternatively, the initial heave displacement difference may be obtained using the following formula,
EH0＝ H10- H20 (3)，
wherein EH0 is the initial heave displacement difference between the receiving ship and the supplementing ship; h10 is the initial displacement of the receiving vessel; h20 tender vessel initial displacement. And the determination and calculation of the initial heave displacement difference are facilitated.
It should be noted that the real-time heave displacement difference may also be determined by a logic similar to the formula (3).
It should be noted that the target height may be a fixed height of a certain level of the receiving vessel and the region where the supply vessel is located. The standard height of the receiving ship and the standard height of the supplementing ship are the standard height of the receiving ship and the standard height of the supplementing ship when no wind and waves exist on the sea. The heights provided in the present disclosure may all be measured by sensors.
S203: the method comprises the steps of obtaining the height of an initial replenishment cargo sling of a crane on a receiving ship and the height of a real-time replenishment cargo sling of the crane, wherein the height of the initial replenishment cargo sling is the height of the replenishment cargo sling of the crane at the moment when wave compensation starts, and the height of the real-time replenishment cargo sling is the height of the replenishment cargo sling of the crane corresponding to the real-time in the wave compensation process.
The height of the replenishment hanger can be measured by installing a sensor on the replenishment hanger.
S204: and acquiring a first difference value and a second difference value in real time, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the real-time replenishment cargo lifting appliance and the height of the initial replenishment cargo lifting appliance.
The first difference value and the second difference value are obtained in real time, whether the first difference value is equal to the second difference value or not can be judged in real time, and whether the height of the goods replenishing lifting appliance of the crane is required to be adjusted or not is judged. The data of the first difference and the second difference may also be monitored to ensure that the distance between the supply cargo and the deck of the receiving vessel is a safer distance.
S205: and adjusting the height of the cargo sling of the crane until the first difference value is equal to the second difference value so as to complete wave compensation.
Step S205 may refer to step S103 shown in fig. 1, and thus will not be described herein.
While the present disclosure has been described above by way of example, and not by way of limitation, any person skilled in the art will recognize that many modifications, adaptations, and variations of the present disclosure can be made to the present embodiments without departing from the scope of the present disclosure.
Claims (4)
1. The offshore and by-replenishment wave compensation control method is characterized by comprising the following steps of:
the method comprises respectively obtaining standard height of receiving vessel and standard height of replenishment vessel relative to target height of receiving vessel and replenishment vessel, wherein the target height is fixed height of receiving vessel and replenishment vessel in a certain horizontal plane of region, the standard height of receiving vessel is the height of receiving vessel relative to target height when there is no wind wave at sea, the standard height of replenishment vessel is the height of replenishment vessel relative to target height when there is no wind wave at sea,
acquiring the initial height of the receiving ship at the moment of starting wave compensation and the initial height of the replenishment ship at the moment of starting wave compensation;
subtracting the standard height of the receiving ship from the initial height of the receiving ship to obtain initial displacement of the receiving ship;
subtracting the initial height of the replenishment ship from the initial height of the replenishment ship to obtain initial displacement of the replenishment ship;
subtracting the initial displacement of the replenishment vessel from the initial displacement of the receiving vessel to obtain an initial heave displacement difference between the receiving vessel and the replenishment vessel, wherein the initial heave displacement difference is a heave displacement difference between the replenishment vessel and the receiving vessel at the moment when wave compensation begins;
acquiring real-time heave displacement differences of the receiving vessel and the supplementing vessel, wherein the real-time heave displacement differences are corresponding to the heave displacement differences of the supplementing vessel and the receiving vessel in real time in the wave compensation process;
acquiring the height of an initial replenishment cargo sling of a crane on the replenishment vessel and the height of a real-time replenishment cargo sling of the crane, wherein the height of the initial replenishment cargo sling is the height of the replenishment cargo sling of the crane at the moment when wave compensation starts, and the height of the real-time replenishment cargo sling is the height of the replenishment cargo sling of the crane corresponding to the real-time during the wave compensation;
acquiring a first difference value and a second difference value in real time, wherein the first difference value is the difference between the real-time heave displacement difference and the initial heave displacement difference, and the second difference value is the difference between the height of the real-time replenishment cargo lifting appliance and the height of the initial replenishment cargo lifting appliance;
adjusting the height of a cargo replenishment lifting appliance of the crane until the first difference value is equal to the second difference value to complete the wave compensation;
the adjusting the height of the cargo sling of the crane until the first difference value is equal to the second difference value comprises the following steps:
the speed of a cargo replenishment lifting appliance of the crane is adjusted to adjust the height of the cargo replenishment lifting appliance until the first difference value is equal to the second difference value;
the goods replenishing sling is connected with the lifting winch of the crane through a connecting rope, the speed of the goods replenishing sling is equal to the rotation linear speed of the lifting winch, the heave speed of the lifting winch is equal to the heave speed of the replenishment ship, the height of the replenishment cargo lifting appliance of the crane is adjusted until the first difference value is equal to the second difference value, and the method further comprises the following steps:
determining the compensation speed of the cargo replenishment lifting appliance of the crane according to the difference between the first difference value and the second difference value at the moment of wave compensation starting, the real-time heave speed of the receiving ship in the wave compensation process and the real-time heave speed of the replenishment ship in the wave compensation process;
and adjusting the height of the cargo replenishing lifting appliance according to the compensation speed until the first difference value is equal to the second difference value.
2. The offshore and by-make-up wave compensation control method of claim 1, wherein a closed loop control algorithm is employed to determine a first adjusted linear velocity of the lift winch based on a difference between the first difference and the second difference at a wave compensation start instant;
taking the difference between the real-time heave speed of the receiving ship and the real-time heave speed of the replenishing ship as a second regulating speed;
and taking the sum of the first regulating linear speed and the second regulating speed as the compensation speed of the cargo replenishing lifting appliance.
3. The offshore and by-make-up wave compensation control method according to any one of claims 1-2, further comprising:
before the initial heave displacement difference and the real-time heave displacement difference of the receiving ship and the replenishing ship are obtained, judging whether to start wave compensation according to the distance between the replenishing cargo connected with the replenishing cargo lifting appliance and the deck of the receiving ship.
4. A method of offshore and by-make-up wave compensation control according to claim 3,
and if the distance between the replenishing cargo and the deck of the receiving ship is less than or equal to two meters, starting wave compensation.
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