CN210063296U - Ship marine engineering multi-point mooring anchor paddle combined positioning system - Google Patents
Ship marine engineering multi-point mooring anchor paddle combined positioning system Download PDFInfo
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- CN210063296U CN210063296U CN201920123137.4U CN201920123137U CN210063296U CN 210063296 U CN210063296 U CN 210063296U CN 201920123137 U CN201920123137 U CN 201920123137U CN 210063296 U CN210063296 U CN 210063296U
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Abstract
The utility model provides a ship and sea engineering multi-point mooring anchor paddle combined positioning system, which comprises a mooring winch control system and an electric propulsion control system which are mutually connected through an Ethernet; the mooring winch control system comprises 4 sets of anchor winch systems, namely a first anchor winch system, a second anchor winch system, a third anchor winch system and a fourth anchor winch system; the electric propulsion control system comprises 4 sets of electric propulsion systems, namely a first electric propulsion system, a second electric propulsion system, a third electric propulsion system and a fourth electric propulsion system. Has the advantages that: through multi-point mooring anchor-paddle combined positioning, the advantages of stability, high efficiency, energy conservation and low cost are brought to maritime work positioning projects, the utilization rate of resources of propulsion equipment is high, the capacity of mooring equipment is reduced, and the method has important practical significance and popularization value for improving the competitiveness of positioning projects such as offshore drilling and oil extraction.
Description
Technical Field
The utility model belongs to the technical field of boats and ships and ocean engineering, concretely relates to ship ocean engineering multiple spot anchor oar joint positioning system that moors.
Background
The floating ocean platform/engineering ship has the working modes of long-term positioning work in a certain sea area, can move and park in a small range, and has the key positioning technology and method. The multi-point mooring belongs to one of the positioning modes of a floating ocean platform/engineering ship, and the application scene comprises the following steps: the length and width of the floating body are close, or the direction of the environmental force is single, or the floating ocean drilling platform requires fixed-point positioning, or the floating body which is not allowed to rotate for 360 degrees in the ocean engineering construction operation in narrow sea areas, riverways and the like, such as a crane ship, a pipe laying ship and the like, is selected as a multi-point mooring system. The use of a multi-point mooring system is considered when the floating body is insensitive to the direction of the environmental forces. The environmental condition is gentle, the main stress direction of the floating body is relatively fixed, and even a ship-shaped floating body which is very sensitive to the environmental force direction adopts a multi-point mooring system.
Currently, the multi-point mooring mode mainly includes mooring (anchoring) positioning, DP dynamic positioning, and a combined positioning mode combining mooring and DP dynamic positioning. Generally, DP dynamic positioning is adopted more in 1500 m water depth, mooring positioning is adopted more in 1500 m water depth, and a mooring-DP dynamic positioning combined positioning mode is adopted in 1500-3000 m water depth.
Wherein, the advantage of mooring the location does: the comprehensive cost of the positioning operation is low, and the energy consumption is low; however, because the strength of the positioning winch and the cable is limited, the positioning winch and the cable cannot resist different sea conditions and seawater corrosion, and cannot meet the positioning accuracy required by the floating ocean platform/engineering ship under severe ocean environment conditions or deep water conditions. The DP dynamic positioning method can meet the positioning accuracy requirements under severe sea conditions and deep water conditions, but has the problems of high energy consumption and high cost.
And the combined positioning mode combining mooring and DP dynamic positioning can meet the positioning accuracy under severe sea conditions and deep water conditions, and can reduce high energy consumption and high cost caused by only using DP dynamic positioning. However, DP power positioning is the most complex power and control system and is mostly applied to high value-added projects; offshore oil exploitation has a much higher cost than land oil exploitation, so the combined positioning mode combining mooring and DP dynamic positioning still has limited development due to the problems of high cost and high energy consumption.
Therefore, it is a urgent need to develop a positioning system that has a simple structure, low cost, and easy operation and maintenance, and can meet the positioning accuracy requirement under severe sea conditions and deep water conditions.
SUMMERY OF THE UTILITY MODEL
The defect to prior art existence, the utility model provides a ship marine engineering multiple spot mooring anchor oar joint positioning system can effectively solve above-mentioned problem.
The utility model adopts the technical scheme as follows:
the utility model provides a multi-point mooring anchor paddle combined positioning system for ship engineering, which comprises a floating platform, wherein a No. 1 anchor and a No. 2 anchor are arranged in the right front direction of the bow of the floating platform; arranging No. 3 anchors and No. 4 anchors in the right-rear direction of the heading of the floating platform; the No. 3 anchor and the No. 2 anchor are symmetrical relative to the stern; the No. 4 anchor and the No. 1 anchor are symmetrical relative to the stern; arranging No. 5 anchors and No. 6 anchors in the left-rear direction of the bow of the floating platform; the No. 5 anchor and the No. 4 anchor are symmetrical relative to the heading direction; the No. 6 anchor and the No. 3 anchor are symmetrical relative to the heading; arranging No. 7 anchors and No. 8 anchors in the left-front direction of the heading direction of the floating platform; wherein, the No. 7 anchor and the No. 2 anchor are symmetrical relative to the heading; the No. 8 anchor and the No. 1 anchor are symmetrical relative to the heading;
arranging a pod type propeller No. 1 in the heading right-front direction of the floating platform; arranging a No. 2 pod type propeller in the right rear direction of the heading of the floating platform; arranging a No. 3 pod type propeller in the left-rear direction of the heading of the floating platform; arranging a number 4 pod type propeller in the left-front direction of the heading of the floating platform;
connecting the mooring winch control system and the electric propulsion control system with each other through an Ethernet; the mooring winch control system comprises 4 sets of anchor winch systems, namely a first anchor winch system, a second anchor winch system, a third anchor winch system and a fourth anchor winch system; the first anchor and mooring machine system comprises a 1 st-1 st anchor and mooring machine unit and a 1 st-2 st anchor and mooring machine unit; the 1 st-1 st anchor winch unit corresponds to the No. 1 anchor; the 1 st-2 th anchor windlass unit corresponds to the No. 2 anchor; the second anchor and mooring machine system comprises a 2-1 st anchor and mooring machine unit and a 2-2 nd anchor and mooring machine unit; the 2 nd-1 th anchor windlass unit corresponds to the No. 3 anchor; the 2 nd-2 nd anchor windlass unit corresponds to the No. 4 anchor; the third anchor and mooring machine system comprises a 3-1 anchor and mooring machine unit and a 3-2 anchor and mooring machine unit; the 3 rd-1 th anchor windlass unit corresponds to the No. 5 anchor; the 3 rd-2 th anchor winch unit corresponds to the No. 6 anchor; the fourth anchor and mooring machine system comprises a 4-1 anchor and mooring machine unit and a 4-2 anchor and mooring machine unit; the 4 th-1 th anchor windlass unit corresponds to the No. 7 anchor; the 4 th-2 th anchor windlass unit corresponds to the No. 8 anchor;
the electric propulsion control system comprises 4 sets of electric propulsion systems, namely a first electric propulsion system, a second electric propulsion system, a third electric propulsion system and a fourth electric propulsion system; the first electric propulsion system corresponds to the pod propulsion system No. 1; the second electric propulsion system corresponds to the pod 2 propeller; the first electric propulsion system corresponds to the No. 3 pod thruster; the fourth electric propulsion system corresponds to the No. 4 pod thruster.
Preferably, if no dominant wind direction flow exists, the included angle between the No. 1 anchor and the heading is 25 degrees, and the included angle between the No. 2 anchor and the heading is 70 degrees; if the dominant wind direction flow exists, the included angle between the No. 1 anchor and the heading is 30 degrees, and the included angle between the No. 2 anchor and the heading is 60 degrees.
Preferably, the first anchor and mooring machine system, the second anchor and mooring machine system, the third anchor and mooring machine system and the fourth anchor and mooring machine system are connected together through a first field bus to form a ring network;
said first, second, third and fourth electric propulsion systems being coupled together by a second fieldbus to form a ring network; the first fieldbus and the second fieldbus are coupled together.
The utility model provides a ship marine engineering multiple spot anchor oar joint positioning system that moors has following advantage:
the utility model provides a ship marine engineering multiple spot mooring anchor oar joint positioning system through multiple spot mooring anchor-oar joint positioning, for marine engineering location project brings stability, high efficiency, energy-conservation and low cost advantage, propulsion plant resource utilization is high, has still reduced the mooring equipment capacity, has higher economy and social, has important realistic meaning and spreading value to the competitiveness that promotes location projects such as offshore drilling and oil recovery.
Drawings
Fig. 1 is a schematic view of the arrangement of the positioning anchor on a floating plane according to the present invention;
wherein: anchor nos. 1-1; anchor number 2-2; anchor nos. 3-3; anchor number 4-4; anchor nos. 5-5; anchor number 6-6; anchors nos. 7-7; anchor number 8-8;
fig. 2 is a schematic diagram simplified to four-point mooring provided by the present invention;
fig. 3 is a schematic diagram simplified to a two-point mooring provided by the present invention;
fig. 4 is a connection relation diagram of the multi-point mooring anchor-paddle combined positioning system in the marine engineering provided by the present invention;
fig. 5 is a schematic diagram of the multi-point mooring anchor-paddle combined positioning system in the marine engineering provided by the present invention.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to further explain the present invention in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
The ocean engineering work mode is a long-term fixed-point operation type project in a certain sea area, and the most appropriate positioning scheme is selected to be very key. The existing main positioning mode mainly has the following main problems:
(1) and the DP power positioning system needs a plurality of thrusters to synchronously coordinate and continuously operate, so that the energy consumption is high, and the required capacity of a power station is also high.
(2) DP dynamic positioning systems have high initial investment, expensive equipment, and the total cost is independent of water depth.
(3) DP dynamic positioning systems are expensive to operate, manage, and maintain.
(4) The mooring positioning system mainly bears the load of wind, wave and flow, and the stress cannot exceed the breaking force of a mooring cable (chain), so that the power, the size and the strength of mooring equipment are further increased, and the deck load is large and the cost is very high.
(5) The propulsion system only plays a role in navigation and berthing, and is not applied in positioning, so that the functions of the propeller are not fully exerted, and resources are wasted.
When the ocean platform and the engineering ship with self-navigation capability are positioned by mooring, the thruster does not participate in positioning work and is only used for navigation and berthing, and the positioning is only completed by a mooring system, so that the function of the thruster is not fully exerted, and the mooring system has high investment due to large selection.
(6) The mechanism of action of mooring systems and propulsion systems is lacking in applicability.
In view of the above problem, the utility model provides a ship marine engineering multiple spot mooring anchor oar joint positioning system through multiple spot mooring anchor-oar joint positioning, for marine engineering location project brings stability, high efficiency, energy-conservation and low cost advantage, propulsion plant resource utilization is high, has still reduced the mooring equipment capacity, has higher economy and social, has important realistic meaning and spreading value to the competitiveness that promotes location projects such as offshore drilling and oil recovery.
Specifically, the utility model provides an adopt DP power positioning alone to have big, the investment is high, the high difficult problem of operation cost of energy consumption, solve adopt alone that mooring positioning has be difficult to resist the difficult problem of adverse sea condition, solve the problem of how to play the effect of propulsion system in mooring positioning, solve mooring (anchoring) location and propeller (oar) linkage coordination's technical difficulty.
The utility model has the advantages of it is following:
(1) the mooring positioning system is linked with the propulsion system and coordinates with each other, so that the positioning accuracy is improved, and the capability of resisting severe sea conditions is realized.
(2) The mooring positioning control system and the propulsion control system adopt a unified bus system, a flexible topological structure and an isochronous synchronous coordination strategy.
(3) The propulsion system performs auxiliary positioning on a plane, and the storm flow load born by the mooring positioning system can be reduced.
(4) The mooring positioning system and the propulsion system are combined to improve the mooring efficiency of the ocean platform and the engineering ship.
(5) The propulsion system acts on the mooring and positioning system in an auxiliary manner, so that the power of the anchor winch is reduced, the capacity of a power station is reduced, the cost is reduced, and the effects of energy conservation and emission reduction are remarkable.
The multi-point mooring requires positioning within a certain fixed point range, the positioning range (S) does not exceed (3-5)% of the water depth (H), namely S is less than or equal to (3-5)% H. The multi-point mooring is generally 1-16 anchor points/bollards, but the mooring action points on the ocean platform/ship are generally 4, each action point leads out 1-16 root mooring chains to the anchor points/bollards, and an eight-point mooring schematic diagram is shown in fig. 1. In order to improve the reliability, at least 2 root mooring anchor chains are led out from each action point; in order to increase the mooring force and reduce the size, weight and bearing capacity of a single set of anchor windlass and mooring anchor chain, 3-4 root mooring anchor chains are led out from each action point. The anchor windlass of each action point can work independently, also can work jointly through the clutch, improves security and reliability.
A plurality of mooring anchor chains led out from the mooring action points on the ocean platform/ship can be combined into a nominal mooring anchor chain, as shown in fig. 2, the eight-point mooring resultant force is four-point mooring. The action of the stormy wave flow has directionality, and the multi-point mooring can be combined into two-point mooring in the action direction of the stormy wave flow, as shown in fig. 3, the multi-point mooring can be simplified into two-point mooring.
As shown in fig. 4 and 5, the utility model provides a combined positioning system for a multi-point mooring anchor paddle in marine engineering, which comprises a floating platform, wherein a No. 1 anchor and a No. 2 anchor are arranged in the right front direction of the heading of the floating platform; arranging No. 3 anchors and No. 4 anchors in the right-rear direction of the heading of the floating platform; the No. 3 anchor and the No. 2 anchor are symmetrical relative to the stern; the No. 4 anchor and the No. 1 anchor are symmetrical relative to the stern; arranging No. 5 anchors and No. 6 anchors in the left-rear direction of the bow of the floating platform; the No. 5 anchor and the No. 4 anchor are symmetrical relative to the heading direction; the No. 6 anchor and the No. 3 anchor are symmetrical relative to the heading; arranging No. 7 anchors and No. 8 anchors in the left-front direction of the heading direction of the floating platform; wherein, the No. 7 anchor and the No. 2 anchor are symmetrical relative to the heading; the No. 8 anchor and the No. 1 anchor are symmetrical relative to the heading;
arranging a pod type propeller No. 1 in the heading right-front direction of the floating platform; arranging a No. 2 pod type propeller in the right rear direction of the heading of the floating platform; arranging a No. 3 pod type propeller in the left-rear direction of the heading of the floating platform; arranging a number 4 pod type propeller in the left-front direction of the heading of the floating platform;
connecting the mooring winch control system and the electric propulsion control system with each other through an Ethernet; the mooring winch control system comprises 4 sets of anchor winch systems, namely a first anchor winch system, a second anchor winch system, a third anchor winch system and a fourth anchor winch system; the first anchor and mooring machine system comprises a 1 st-1 st anchor and mooring machine unit and a 1 st-2 st anchor and mooring machine unit; the 1 st-1 st anchor winch unit corresponds to the No. 1 anchor; the 1 st-2 th anchor windlass unit corresponds to the No. 2 anchor; the second anchor and mooring machine system comprises a 2-1 st anchor and mooring machine unit and a 2-2 nd anchor and mooring machine unit; the 2 nd-1 th anchor windlass unit corresponds to the No. 3 anchor; the 2 nd-2 nd anchor windlass unit corresponds to the No. 4 anchor; the third anchor and mooring machine system comprises a 3-1 anchor and mooring machine unit and a 3-2 anchor and mooring machine unit; the 3 rd-1 th anchor windlass unit corresponds to the No. 5 anchor; the 3 rd-2 th anchor winch unit corresponds to the No. 6 anchor; the fourth anchor and mooring machine system comprises a 4-1 anchor and mooring machine unit and a 4-2 anchor and mooring machine unit; the 4 th-1 th anchor windlass unit corresponds to the No. 7 anchor; the 4 th-2 th anchor windlass unit corresponds to the No. 8 anchor;
the electric propulsion control system comprises 4 sets of electric propulsion systems, namely a first electric propulsion system, a second electric propulsion system, a third electric propulsion system and a fourth electric propulsion system; the first electric propulsion system corresponds to the pod propulsion system No. 1; the second electric propulsion system corresponds to the pod 2 propeller; the first electric propulsion system corresponds to the No. 3 pod thruster; the fourth electric propulsion system corresponds to the No. 4 pod thruster.
On a specific wiring, the first anchor and mooring machine system, the second anchor and mooring machine system, the third anchor and mooring machine system and the fourth anchor and mooring machine system are connected together through a first field bus to form a ring network;
said first, second, third and fourth electric propulsion systems being coupled together by a second fieldbus to form a ring network; the first fieldbus and the second fieldbus are coupled together.
Fig. 4 shows a network diagram of a multi-point mooring anchor-paddle combined positioning system, a 1# to 4# mooring winch control system and a 1# to 4# electric propulsion control system are connected together through an annular ethernet network, and an upper computer performs positioning system management through the ethernet network. The 1# to 4# anchor and mooring machine systems are connected together through a CAN BUS or Profibus. The multi-point mooring propeller only CAN adopt a pod propulsion mode, and each set of electric propulsion control system is connected together through a CAN BUS or a Profibus. The field bus of the control system of the 1# to 4# mooring winch and the field bus of the control system of the 1# to 4# electric propulsion are connected together, and isochronous synchronous control over the electric propulsion control system and the control system of the mooring winch is achieved.
The utility model discloses in, to floating platform's four corners, every angle equipartition has put two anchor chains and a propeller, consequently, can adjust floating platform's state in a flexible way, guarantees that floating platform is within the fixed point within the scope.
Referring to fig. 5, the mooring winch control system and the electric propulsion control system are described in detail below:
mooring winch control system
The mooring winch control system comprises 4 sets of anchor winch systems which respectively correspond to four corners of the floating platform; each set of anchor and mooring machine system comprises a mooring PLC (programmable logic controller), a first 24VDC (direct current) power supply module, a controllable rectification-inversion mooring motion controller, a communication module, an active front end controllable rectification mooring motor power supply module ALM, a mooring motor driving module PM, an anchor machine motor encoder module, an anchor machine motor encoder, an anchor and mooring machine encoder module, an anchor and mooring machine encoder, an anchor machine motor, an anchor and mooring machine, an anchor chain, an anchor, a speed reducer, a brake, a vertical angle sensor and a horizontal angle sensor;
the mooring PLC controller is connected with the anchor machine motor through the mooring motor driving module PM and is used for controlling the working state of the anchor machine motor; the output end of the anchor machine motor is connected to the anchor reaming machine and is used for driving the anchor reaming machine to perform the telescopic action of the anchor chain; one end of the anchor chain is wound on the anchor reaming machine, and the other end of the anchor chain is fixed to a mooring positioning point through the anchor;
the power station bus bar provides a power supply which is connected with the active front end controllable rectification mooring motor power supply module ALM and is used for providing 450V three-phase alternating current for the active front end controllable rectification mooring motor power supply module ALM; the active front-end controllable rectification mooring motor power supply module ALM converts three-phase alternating current into direct current of 700V and is connected to the mooring motor driving module PM; the mooring motor driving module PM converts 700V direct current into 450VAC to supply to the anchor motor, and then supplies power to the anchor motor;
an external 110 VAC power supply is connected to the first 24VDC power supply module, and the first 24VDC power supply module converts the 110 VAC power into 24VDC power and supplies power to other equipment modules of the anchor and mooring machine system except the anchor motor;
the anchor machine motor encoder is used for detecting the rotation angle and the rotation speed of the anchor machine motor, sending the rotation angle and the rotation speed to the anchor machine motor encoder module, and uploading the rotation angle and the rotation speed to the mooring PLC controller after being processed by the anchor machine motor encoder module;
the anchor and mooring machine encoder is used for detecting the rotation angle and the rotation speed of the anchor and mooring machine, sending the rotation angle and the rotation speed to the anchor and mooring machine encoder module, and uploading the rotation angle and the rotation speed to the mooring PLC controller after being processed by the anchor and mooring machine encoder module;
the tension sensor is arranged at two anchor bolts on diagonal lines of four fixed anchors of the anchor reaming machine, is used for detecting the anchor chain tension of the anchor chain in real time and directly transmits the anchor chain tension to the mooring PLC controller;
the vertical angle sensor is used for detecting the included angle between the anchor chain and the vertical direction in real time and directly transmitting the included angle to the mooring PLC controller;
the horizontal angle sensor is used for detecting an included angle between the horizontal direction of the anchor chain and the heading of the ship in real time and directly transmitting the included angle to the mooring PLC controller;
the speed reducer is arranged between the anchor winch motor and the anchor winch and is used for ensuring low-speed and high-torque required by the anchor winch;
the brake is arranged at the control end of the anchor hinge machine and used for braking and preventing the length and tension of the anchor chain from sliding;
the communication module is used for connecting other anchor and mooring machine systems to form an annular field bus network, and isochronous synchronous control is achieved.
(II) electric propulsion control system
Each set of electric propulsion system comprises an electric propulsion PLC controller, a second 24VDC power supply module, an electric propulsion motion controller, a communication module, an active front end controllable rectification propulsion motor power supply module ALM, a propulsion motor driving module PM, a rotary motor driving module PM, a propulsion motor encoder module, a propulsion motor encoder, a rotary motor encoder module, a rotary motor encoder, a propulsion motor, a rotary motor, a propulsion motor output shaft torque sensor and a propeller;
the electric propulsion PLC controller is connected with the propulsion motor through the propulsion motor driving module PM and is used for controlling the working state of the propulsion motor; the output end of the propulsion motor is connected to the propeller and used for controlling the rotation speed of the propeller;
the electric propulsion PLC is connected with the rotary motor through the rotary motor driving module PM and is used for controlling the working state of the rotary motor so as to adjust the direction of the platform;
the power station bus bar provides a power supply which is connected with the active front end controllable rectification propulsion motor power supply module ALM and is used for providing 450V three-phase alternating current for the active front end controllable rectification propulsion motor power supply module ALM; the active front-end controllable rectification propulsion motor power supply module ALM converts three-phase alternating current into direct current of 700V and is respectively connected to the propulsion motor driving module PM and the rotary motor driving module PM; the PM converts 700V direct current into 450V direct current to be supplied to the propulsion motor, and then supplies power to the propulsion motor; the rotary motor driving module PM converts 700V direct current into 450V direct current to be supplied to the rotary motor, and then supplies power to the rotary motor;
the external 110V alternating current is connected to the second 24V DC power supply module, and the second 24V DC power supply module converts the 110V alternating current into 24V direct current and supplies power to other equipment modules of the electric propulsion system except the slewing motor and the propulsion motor;
the propulsion motor encoder is used for detecting the rotation angle and the rotation speed of the propulsion motor, sending the rotation angle and the rotation speed to the propulsion motor encoder module, and uploading the rotation angle and the rotation speed to the electric propulsion PLC controller after being processed by the propulsion motor encoder module;
the rotary motor encoder is used for detecting the rotation angle and the rotation speed of the rotary motor, sending the rotation angle and the rotation speed to the rotary motor encoder module, and uploading the rotation angle and the rotation speed to the electric propulsion PLC controller after the rotation angle and the rotation speed are processed by the rotary motor encoder module;
and the propulsion motor output shaft torque sensor is used for detecting the torque value of the propulsion motor output shaft and directly uploading the torque value to the electric propulsion PLC.
The propulsion motor power supply module ALM and the propulsion motor driving module PM are connected in parallel at the back part through a direct current bus, and the voltage of the direct current bus is 700VDC +/-10 VDC. The propulsion motor power supply module ALM, the propulsion motor driving module PM, the motion controller, the communication module and the encoder module are connected together through an industrial Ethernet DriveCliQ to form an internal special network, and real-time data sharing among the modules is realized.
The utility model provides a multi-point mooring anchor-oar joint positioning system links together multi-point mooring control system and a plurality of propulsion control system through the ethernet, realizes data sharing and control. The multi-point mooring system is mainly used, the propulsion system is used as an auxiliary system, the propulsion system is put into operation only when the multi-point mooring system is overloaded, the multi-point mooring system is controlled by constant tension, and the propulsion system overcomes extra load. The multi-point mooring positioning system is sensitive to the storm flow direction, firstly, the action direction of the storm flow is detected, the mooring system in the direction resists the action of the storm flow, the multi-propeller rotating motor is linked to track the action direction of the storm flow, and the acting force generated by the propeller driven by the propeller motor resists the action force of the storm flow.
Therefore, the utility model discloses in, integrated anchor windlass and propeller simultaneously on floating platform, through the cooperative control of anchor windlass and propeller, realize the multiple spot mooring location to floating platform. The utility model discloses an innovation is in the same place mooring winch control system and electric propulsion control system are integrated to make the multi-point mooring system effect be main, propulsion system is for assisting, and the effort that produces through propulsion system drive screw resists the stormy waves and flows the effort. Therefore, the present application mainly creates hardware innovations, and a specific positioning method is described below, but it should be emphasized that the positioning method described below does not belong to the protection scope of the present invention, and the contents of the positioning method are further described only for fully describing the present application:
secondly, determining the heading of the platform according to the dominant direction of the wind direction and the flow direction of the positioning sea area; if no dominant wind direction flow exists, the included angle between the No. 1 anchor and the heading is 25 degrees, and the included angle between the No. 2 anchor and the heading is 70 degrees; if the dominant wind direction flow exists, the included angle between the No. 1 anchor and the heading is 30 degrees, and the included angle between the No. 2 anchor and the heading is 60 degrees;
step 4, in the working process of multi-point mooring, initially, a mooring anchor chain length constant value control strategy and a constant tension control strategy are not started; the mooring platform can be positioned within the positioning critical control range only through the action of the multi-point mooring anchor chain.
The method comprises the steps that an upper computer obtains environmental characterization parameters of a mooring platform in real time, wherein the environmental characterization parameters comprise wind speed v m/s, flow rate I, wave height m, oscillation period T, tidal range delta m, pitching β degrees and side-to-side rocking α degrees, storm currents influence six-degree-of-freedom motion of the lower ocean platform, motion in a small range is limited by the restoring force of a mooring anchor chain, the positioning critical control range is that the maximum drift radius is less than 5-6% of water depth, the positioning range error is less than 2-3% of water depth, the longitudinal and transverse inclination of the platform is less than or equal to 1 degree, the tension control precision is less than or equal to plus or minus 5% of rated load, therefore, when the positioning critical control range is not exceeded, the mooring platform is positioned by the restoring force of the anchor chain;
wherein, the action principle of the multi-point mooring anchor chain is as follows: one end of a multi-point mooring anchor chain is anchored on the seabed in a grabbing and embedding mode, when the platform deviates to the maximum allowable range, the lower end point of the mooring anchor chain still has the minimum length tangent to the seabed, the mooring anchor chain is made to adapt to the wave-induced motion of the platform by using the suspension force of the anchor chain, and the anchor chain is prevented from colliding with a floating body. In order to reduce the drift amount of the platform, a counterweight is added at the touchdown point of the anchor chain, so that the profile of the catenary can be deepened. The length of the anchor chain is kept unchanged, the larger the chain diameter is, the larger the restoring force generated by the mooring anchor chain when the platform drifts, and the smaller the horizontal displacement of the platform is.
The horizontal span of the multi-point mooring corresponds to the pre-tension, and the multi-point mooring control system adjusts the pre-tension by adjusting the horizontal span of the mooring anchor chain through the anchor winch. The larger the horizontal span is, the larger the pretension is, the larger the restoring force of the anchor chain is when the platform drifts, and the smaller the horizontal displacement of the platform is; the influence of the change of the horizontal span of the multi-point mooring on the stress and displacement of the platform is very obvious, the arrangement of the positioning anchor is very important, and the position of the positioning anchor is not changed after the arrangement of the positioning anchor is finished.
The pre-tension of the anchor chain is the most sensitive mooring control parameter, the length of the anchor chain is fixed, and the influence of the pre-tension change on the mooring performance of the platform is the most obvious. When the length and the arrangement angle of the mooring anchor chain are kept unchanged, the larger the pretension of the mooring anchor chain is, the larger the maximum tension of the mooring anchor chain is, and the larger the restoring force generated by the anchor chain is, the smaller the drift of the platform under the influence of stormy waves and currents is. A difficulty in designing a multi-point mooring system is to minimize the maximum tension of the mooring lines while ensuring the restoring forces required by the system. The pretension of the anchor chain is in positive correlation with the restoring force of the system and the tension of the anchor chain, the pretension of the anchor chain is proper, the restoring force of the system is large enough, and the tension of the anchor chain is reduced as much as possible, which can be realized only by the combined control of a multi-point mooring anchor and a multi-paddle.
step 6, controlling the length fixed value of the mooring anchor chain to limit the up-and-down movement of the platform; the method specifically comprises the following steps:
step 6.1, taking the distance H from the bottom of the platform to the sea bottom water depth0As a reference value, the actual distance between the platform and the seabed of the working sea area is H, and the deviation delta H is H0-h；
And 6.2, if delta H is less than or equal to delta and is less than or equal to delta, delta is more than or equal to 0 and is generally 0.2-0.3 m, the anchor winch performs constant length control, a brake device of the anchor winch acts, the length of the mooring anchor chain is unchanged but the tension changes along with environmental force, the influence of tide on the platform is a slow change process, and the anchor winch starts to adjust the length and the tension after the length of the mooring anchor chain is changed, so that the anchor winch is prevented from being over-adjusted. H0In relation to the stage ballasting state, i.e. draft, flood tide, or stage ballasting level will all affect H0Size;
step 6.3, judging whether the tension of the anchor chain is smaller than the breaking force of the anchor chain, if the tension of the anchor chain is larger than the breaking force of the anchor chain, only carrying out constant tension control on the anchor winch, and changing the length of the mooring anchor chain along with the environmental force;
if the tension of the anchor chain is less than the anchor chain breaking force, the anchor winch adjusts the tension of the anchor chain along with buoyancy, specifically, if the platform rises due to flood tide, namely when delta H is less than-delta, the buoyancy is greater than the brake force of the anchor winch, the anchor winch starts to slowly rotate reversely to release the anchor chain, the brake of the anchor winch is released, so that the length of the mooring anchor chain is increased until the platform floats upwards and stops;
if the platform sinks due to the falling tide, namely when delta H is larger than delta, the buoyancy is smaller than the braking force of the anchor and mooring machine, the anchor and mooring machine starts to rotate forward to tighten the anchor chain, the anchor and mooring machine is braked and disengaged, and the length of the mooring anchor chain is shortened until the platform floats and stops;
when the platform stops floating or sinking, the anchor and mooring machine slowly rotates, the anchor and mooring machine can rotate in a positive rotation mode or a reverse rotation mode, the length and the tension of the anchor chain are gradually adjusted, and the draught of the platform is kept to an allowable value;
after the platform is drafted to a specified value, the anchor winch adjusts the tension of the anchor chain to be adaptive to the buoyancy, constant tension control is carried out, and finally, the brake is acted to keep constant tension;
step 7, controlling the constant tension of the mooring anchor chain to limit the movement of the platform in an x-y plane; wherein the heading of the platform is the positive direction of the x axis; preventing the platform from drifting beyond an allowable range; the method specifically comprises the following steps:
step 7.1, the changes of the wind/flow direction and the size cause the ship displacement and the tension change of the anchor chain, and the principle of tension adjustment is as follows: firstly, loosening the downwind anchor chain and synchronously tightening the upwind anchor chain in an equal time manner; the anchor windlass control system enables the windward anchor chain to uniformly bear the environmental force load and simultaneously completely loosens the windward anchor chain; at the moment, if the upwind anchor chain tension does not exceed 1/3 breaking strength, adjusting the tension of each anchor chain according to the principle of tension adjustment; when the tension of the windward anchor chain exceeds the 1/3 breaking strength, performing constant tension control on the windward anchor chain, and executing the step 7.2;
7.2, starting 4 sets of electric propulsion systems respectively corresponding to four corners of the platform; each set of electric propulsion system comprises a propulsion motor for adjusting the magnitude of the propulsion force and a rotary motor for adjusting the direction of the propulsion force; control four propellers and four rotary motor, make the propeller rotate and transfer to and drive the rotatory resultant force that produces of screw and support anti-wind/flow effort, promptly: the thrust generated by the thruster compensates the difference between the tension of the mooring anchor chain and the environmental acting force, thereby reducing the load of the windward mooring anchor chain, reducing the load of the anchor winch and improving the capability of the platform for resisting storm flow.
Therefore, the environmental characterization parameters of the mooring platform comprise wind speed v m/s, flow velocity I section, wave height m, oscillation period T, tidal range delta m, pitching β degrees and side-to-side rocking α degrees, real-time detection is required to be carried out by an anemoscope, a current meter, a surge meter, a tide meter, a rocking meter, an oscillation sensor and the like, the detection is sent into an anchor winch control system, and then the detection is sent into a propulsion control system in a communication mode, the wind wave flow influences the six-degree-of-freedom motion of the ocean platform, the motion in a small range is limited by the restoring force of a mooring anchor chain, the positioning critical control range is that the maximum drift radius is less than 5-6% of water depth, the positioning range error is less than 2-3% of water depth, the longitudinal and transverse inclination of the platform is less than or equal to 1 degrees, the tension control precision is less than +/-5% of rated load, and when the ranges are exceeded, the anchor-paddle combined positioning plays a role, so.
It should be emphasized that, in the present invention, after the positioning anchor is arranged, the horizontal span range of the multi-point mooring can be changed, so that the mobile platform can drill or recover oil in different places, and the platform is used for positioning control of fixed points during drilling or recovering oil. When the platform completes drilling or oil production at a certain point, the platform is moored to another nearby point for drilling or oil production, and when the platform is moored in a certain sea area, the platform can be moored in place more quickly through the combined action of the multi-point mooring anchor and the propeller-free coordination, so that the mooring efficiency is higher than that of the propeller-free coordination. And in the working process of multi-point mooring and positioning, if one anchor windlass breaks down and quits working, the output force of the rest anchor windlasses is reconstructed through the multi-point mooring anchor-paddle combined positioning system, so that the working of the platform is not influenced.
The utility model provides a ship marine engineering multiple spot mooring anchor oar combined positioning system and method has following innovation point:
⑴, the multi-point mooring anchor-paddle combined positioning system reduces the load and the size of the anchor winch and reduces the power impact on the power grid.
⑵, the multi-point mooring anchor-paddle combined positioning system has high efficiency of moving the mooring platform within a small range.
⑶, the multi-point mooring anchor-paddle combined positioning system can reconstruct the functions of other anchor windlasses when the anchor windlasses break down, thereby improving the safety and reliability.
⑷, when the platform deviation range is smaller, the platform deviation is completed by the restoring force of the anchor chain, when the platform deviation exceeds the allowable range, the multi-point mooring anchor winch completes the platform deviation, when the severe sea condition or the output force of the anchor winch reaches the limit, the propeller is driven by the propeller to act, and the multi-point mooring anchor-propeller combined positioning system has good energy saving performance.
Therefore, the utility model provides a pair of ship marine engineering multiple spot mooring anchor oar combined positioning system, comprehensive utilization have had advantages such as simple structure, the cost is low, easy to use and maintenance mooring (anchoring) positioning system and resist stormy wave and flow can be to mooring positioning compensation's propulsion system, fix a position through mooring system and propulsion system (anchor-oar is united) effect, provide technical scheme and application guide for promoting ocean engineering positioning system's precision, stability, security, reliability, low cost, energy saving and emission reduction and system optimization.
The utility model discloses to marine project that needs mooring location such as offshore drilling, oil recovery within 3000 meters of depth of water, solve mooring system and transship and resist the difficult problem of abominable sea condition, solve DP power positioning high energy consumption costly problem, overcome the difficult problem that offshore operation meets with abominable sea condition and stops for a long time.
The utility model discloses specifically have following advantage:
(1) the utility model discloses utilize mooring system and propulsion system's advantage comprehensively, but greatly reduced mooring positioning system's cost reduces boats and ships power plant capacity, improves propulsion system's utilization ratio, can realize the anchor-oar of mooring joint positioning system industrialization, and anchor-oar of mooring joint positioning mode has important realistic meaning and popularization and application value to the location accuracy nature, stability, energy saving and emission reduction and the market competition that promote ship sea engineering.
(2) The self-navigation capability ocean platform and the anchor-propeller combined (mooring system and propulsion system combined) positioning technology and method realize the balance point of positioning performance and value, and can greatly reduce the comprehensive cost of positioning operation.
(3) The ocean engineering work mode is a long-term fixed-point operation type project in a certain sea area, and the most appropriate positioning scheme is selected to be very key. The utility model discloses mooring anchor-oar joint positioning system is very necessary, will bring stable, high-efficient, low-cost systematization integrated solution for the maritime work project.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.
Claims (3)
1. A multi-point mooring anchor paddle combined positioning system for ship and sea engineering is characterized by comprising a floating platform, wherein a No. 1 anchor and a No. 2 anchor are arranged in the right front direction of the heading of the floating platform; arranging No. 3 anchors and No. 4 anchors in the right-rear direction of the heading of the floating platform; the No. 3 anchor and the No. 2 anchor are symmetrical relative to the stern; the No. 4 anchor and the No. 1 anchor are symmetrical relative to the stern; arranging No. 5 anchors and No. 6 anchors in the left-rear direction of the bow of the floating platform; the No. 5 anchor and the No. 4 anchor are symmetrical relative to the heading direction; the No. 6 anchor and the No. 3 anchor are symmetrical relative to the heading; arranging No. 7 anchors and No. 8 anchors in the left-front direction of the heading direction of the floating platform; wherein, the No. 7 anchor and the No. 2 anchor are symmetrical relative to the heading; the No. 8 anchor and the No. 1 anchor are symmetrical relative to the heading;
arranging a pod type propeller No. 1 in the heading right-front direction of the floating platform; arranging a No. 2 pod type propeller in the right rear direction of the heading of the floating platform; arranging a No. 3 pod type propeller in the left-rear direction of the heading of the floating platform; arranging a number 4 pod type propeller in the left-front direction of the heading of the floating platform;
connecting the mooring winch control system and the electric propulsion control system with each other through an Ethernet; the mooring winch control system comprises 4 sets of anchor winch systems, namely a first anchor winch system, a second anchor winch system, a third anchor winch system and a fourth anchor winch system; the first anchor and mooring machine system comprises a 1 st-1 st anchor and mooring machine unit and a 1 st-2 st anchor and mooring machine unit; the 1 st-1 st anchor winch unit corresponds to the No. 1 anchor; the 1 st-2 th anchor windlass unit corresponds to the No. 2 anchor; the second anchor and mooring machine system comprises a 2-1 st anchor and mooring machine unit and a 2-2 nd anchor and mooring machine unit; the 2 nd-1 th anchor windlass unit corresponds to the No. 3 anchor; the 2 nd-2 nd anchor windlass unit corresponds to the No. 4 anchor; the third anchor and mooring machine system comprises a 3-1 anchor and mooring machine unit and a 3-2 anchor and mooring machine unit; the 3 rd-1 th anchor windlass unit corresponds to the No. 5 anchor; the 3 rd-2 th anchor winch unit corresponds to the No. 6 anchor; the fourth anchor and mooring machine system comprises a 4-1 anchor and mooring machine unit and a 4-2 anchor and mooring machine unit; the 4 th-1 th anchor windlass unit corresponds to the No. 7 anchor; the 4 th-2 th anchor windlass unit corresponds to the No. 8 anchor;
the electric propulsion control system comprises 4 sets of electric propulsion systems, namely a first electric propulsion system, a second electric propulsion system, a third electric propulsion system and a fourth electric propulsion system; the first electric propulsion system corresponds to the pod propulsion system No. 1; the second electric propulsion system corresponds to the pod 2 propeller; the first electric propulsion system corresponds to the No. 3 pod thruster; the fourth electric propulsion system corresponds to the No. 4 pod thruster.
2. The multi-point mooring anchor paddle combined positioning system for the marine engineering of the ship according to claim 1, wherein if no dominant wind direction flow exists, the included angle between the anchor No. 1 and the heading is 25 degrees, and the included angle between the anchor No. 2 and the heading is 70 degrees; if the dominant wind direction flow exists, the included angle between the No. 1 anchor and the heading is 30 degrees, and the included angle between the No. 2 anchor and the heading is 60 degrees.
3. The vessel marine engineering multi-point mooring anchor-paddle joint positioning system of claim 1, wherein the first, second, third and fourth anchor-winch systems are coupled together by a first fieldbus to form a ring network;
said first, second, third and fourth electric propulsion systems being coupled together by a second fieldbus to form a ring network; the first fieldbus and the second fieldbus are coupled together.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846107A (en) * | 2020-07-08 | 2020-10-30 | 智慧航海(青岛)智能系统工程有限公司 | Automatic anchoring optimization method for intelligent ship |
| CN112550650A (en) * | 2020-12-10 | 2021-03-26 | 同济大学 | Offshore floating type wind power generation high tower floating body with propeller and protection method |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846107A (en) * | 2020-07-08 | 2020-10-30 | 智慧航海(青岛)智能系统工程有限公司 | Automatic anchoring optimization method for intelligent ship |
| CN111846107B (en) * | 2020-07-08 | 2021-10-29 | 智慧航海(青岛)智能系统工程有限公司 | Automatic anchoring optimization method for intelligent ship |
| CN112550650A (en) * | 2020-12-10 | 2021-03-26 | 同济大学 | Offshore floating type wind power generation high tower floating body with propeller and protection method |
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