EP0040210A1 - Compensateur de la houle - Google Patents

Compensateur de la houle

Info

Publication number
EP0040210A1
EP0040210A1 EP80902120A EP80902120A EP0040210A1 EP 0040210 A1 EP0040210 A1 EP 0040210A1 EP 80902120 A EP80902120 A EP 80902120A EP 80902120 A EP80902120 A EP 80902120A EP 0040210 A1 EP0040210 A1 EP 0040210A1
Authority
EP
European Patent Office
Prior art keywords
pulleys
paying
line
arrangement
movable block
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP80902120A
Other languages
German (de)
English (en)
Inventor
Robert Mccallum
Robert Steven Graham
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Caley Hydraulics Ltd
Original Assignee
Caley Hydraulics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Caley Hydraulics Ltd filed Critical Caley Hydraulics Ltd
Publication of EP0040210A1 publication Critical patent/EP0040210A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water

Definitions

  • This invention relates to a system for the handling of loads being moved between two locations which are movable relative to each other and for compensating for such relative motion.
  • a system which comprises a heave line for establishing an effective connection between a first location and second location movable relative to the first location, means at the first location for paying-out and paying-in the heave line from and to the first location in response to relative motion between the locations, control means responsive to the paying-out and paying-in of the heave line, a winch fixedly mounted at the first location, a load-handling line for connecting a load to the winch, an arrangement of pulleys rotatable about two axes at the first location, the loadhand ling line being looped about the arrangement of pulleys and one axis being movable towards and away from the other axis under the control of the control means for paying-out and paying-in the load-handling line in sympathy with the paying-out and paying-in of the he
  • the first location may be a ship and the second location may be the sea bed and the effective connection between the ship and the sea bed may be made by lowering from the ship onto the sea bed a relatively heavy anchor block by means of the heave line.
  • the weight of the anchor block would be such that the heave line could be regarded as being connected to the sea bed itself.
  • the load may be a diving chamber or a chamber carrying a self-propelled submersible craft.
  • the chamber may be lowered to a desired height above the sea bed and remain substantially at that height even though the ship may be rising and falling due to sea swell.
  • Other applications of the invention include the movement of loads between two ships and between a ship and a fixed structure such as an offshore platform.
  • the first location would be a first ship and the second location would be a second ship with the heave line being connected to the second ship.
  • the first location would be a ship and the second location would be e.g. an offshore platform.
  • the first location would be e.g. an offshore platform and the second location would be a ship.
  • Fig. 1 illustrates a first embodiment
  • Fig. 2 illustrates a second embodiment
  • Fig. 3 illustrates a modification of the embodiment of Fig. 2.
  • a first winch means is shown as an anchor winch 1.
  • a heave line 2 extends from the anchor winch 1 to a pulley 3 journalled for rotation on a fixedly mounted block (not shown). From the first pulley 3 the heave line 2 extends to a pulley 4 journalled for rotation on another block 5 which is movable towards and away from the fixedly mounted block. From the pulley 4 the heave line 2 extends to a pulley 6 also journalled for rotation on the fixedly mounted block. The heave line 2 continues to a pulley 7 journalled for rotation on the block 5.
  • the heave line 2 then continues to a pulley 8 journalled for rotation at a fixed location and from the pulley 8 around two pulleys 9 and 10 journalled for rotation on an anchor block 11 to a pulley 12 journalled for rotation at a fixed location coaxially with the pulley 8. From the pulley 12 the heave line 2 extends to a pulley 13.rotatably journalled on the block
  • a pulley 14 rotatably journalled for rotation on the fixedly mounted block and two further pulleys (not visible in Fig. 1) respectively rotatably journalled on the block 5 and the fixedly mounted block and finally to a fixed point 15.
  • the pulley arrangement just described has a velocity ratio of 4:1.
  • the block 5 is mounted on a carriage (not shown) and is also attached to the piston rod 16 of a hydraulic ram the cylinder 17 of which is fixedly mounted and is connected into a hydraulic circuit comprising a pressure control 18 and a bag-type gas-loaded accumulator 19 to which may be connected one or more back-up gas bottles 20.
  • a second winch means is shown as a lift winch 21.
  • a load-handling line 22 extends from the lift winch 21 to a pulley 23 rotatably journalled on the fixedly mounted block and from the pulley 23 to a pulley 24 rotatably journalled on the movable block 5. From the pulley 24 the load-handling line 22 extends to a pulley 25 rotatably journalled on the fixedly mounted block and from the pulley 25 to a pulley 26 journalled on the. block 5.
  • the pulley arrangement just described also has a velocity ratio of 4:1. From the pulley
  • the load-handling line 22 extends over a pulley 27 disposed between the pulleys 8 and 12 to a load in the form of a diving chamber 28. From the opposite sides of the diving chamber 28 extend wings 29 having eyes 30 through which pass the lengths of the heave line 2 extending between the pulleys 8 and 9 and between the pulleys 10 and 12.
  • the anchor block 11 is lowered from the ship to the sea bed and raised from the sea bed to the ship with the movable block 5 and its carriage locked to the ship's deck. While the anchor block 11 is resting on the sea bed and the heave line 2 provides an effective connection between the ship and the sea bed the. movable block is unlocked and moves towards and away from the fixed block in sympathy with the movement of the ship due to sea swell, the hydraulics associated with the movable block 5 maintaining tension in the heave line 2.
  • the load-handling line 22 is looped around a pulley arrangement having the same velocity ratio as the pulley arrangement around which is looped the heave line 2 and both pulley arrangements are journalled on the same fixed and movable blocks the movement of the ship due to sea swell is compensated relative to the suspended diving chamber 28 so that the diving chamber 28 moves relative to the ship but is substantially stationary relative to the anchor block 11 and the sea bed.
  • the diving chamber 28 is lowered to a convenient height above the sea bed it stays substantially at that height regardless of the ship's movement due to sea swell.
  • the diving chamber 28 is guided between the lengths of the heave line 2 extending between the pulleys 8 and 9 and between the pulleys 10 and 12 lateral movement of the diving chamber 28 is minimised.
  • the heave line may be connected from the ship to the deck of the offshore platform instead of to the sea bed via the anchor block so as to compensate movement of the ship due to sea swell relative to the platform so that transfer of the load of drill pipes is controlled from the ship in such a way that the load is not suddenly deposited on the deck of the platform or suddenly lifted from such deck by movement of the ship relative to the platform due to sea swell.
  • it may be suitable to duplicate the heave winch, the heave line and the pulley arrangement around which the heave line is looped for a more satisfacto connection between the two locations.
  • the loadhandling winch may also be suitable to duplicate the load-handling winch, the loadhandling line and the pulley arrangement around which the load-handling line is looped. In these cases all four pulley arrangements may be accommodated on the fixed and movable blocks.
  • the position of the fixed block may be adjustable by hydraulic means so as to level the load. Differences in the lengths of the load-handling lines paid-out or paid-in by the respective load-handling winches resulting in the load being suspended in an attitude other than level may be detected by footage counters and corrected either automatically or by reference to visual indication of the differences.
  • Fig. 2 illustrates schematically a system for solving the above problem.
  • a lift winch 31 has a load- handling line 32 reeved about six pulleys, three of which 33 are journalled for rotation on a fixed block 34 and the other three of which 35 are journalled for rotation on a movable block 36. From the pulleys 33, 35 the line 32 extends over a pulley 37 journalled for rotation at a fixed location from which a load (not shown) such as a diving chamber is suspended.
  • the block 36 is mounted on piston rod 38 of a hydraulic ram the cylinder 39 of which is fixedly mounted.
  • the side of the cylinder 39 remote from the block 36 is connected to a hydraulic pressure source (not shown) via line 40, a variable pressure regulator 41, line 42, a shut-off valve 43, and lines 44 and 45.
  • the hydraulic pressure is applied against a bag-type gas-loaded accumulator 46 having a pressure gauge 47 and connected via a shut-off valve 48 to a back-up gas bottle 49.
  • the gas bottle 49 is connected via a variable pressure regulator 50 to a gas supply (not shown).
  • the line 42 is connected to a hydraulic reservoir 51 via a variable pressure regulator 52 so that excess hydraulic fluid can be drained off.
  • the line 45 is connected to the reservoir 51 via a shut-off valve 53.
  • a small anchor winch 54 has a heave line 55 extending therefrom over a pulley 56, journalled for rotation at a fixed location, to an anchor block (not shown) resting on the sea bed. Tension is maintained in the line 55 by any suitable means for example an inertia reel (not shown).
  • the winch 54 can drive in both directions a two-direction variable displacement pump 57 connected in a closed circuit with a two-direction fixed displacement hydraulic motor 58.
  • the closed circuit is supplied with hydraulic fluid from a source (not shown) via a variable pressure regulator 59 in parallel with a check valve 60.
  • the motor 58 can drive a second small winch 61 of the same size as the winch 54.
  • Extending from the winch 61 in an auxiliary line 62 reeved about six pulleys, three of which 63 are journall for rotation on a fixed block 64 and the other three of which 65 are journalled for rotation on a block 66 mounted on a trolley 67.
  • the line 62 extends to a fixed point 68.
  • Tension is maintained in the line 62 by means of an inertia reel 69 connected to the trolley 67 by a line 70.
  • a two-arm lever 71 On the trolley 67 is pivotally mounted a two-arm lever 71.
  • One end of the lever 71 is articulated to a sleeve (not shown) slidable with friction about an elongate rod 72.
  • a line 76 leading to the side of cylinder 39 nearer the block 36 is isolated from a line 77 from a source (not shown) of hydraulic fluid under pressure and from an exhaust line 78 including a check valve 79.
  • the line 76 is connected with the line 77 and in the right hand position the line 76 is connected with the line 78.
  • the other end of the lever 71 has a follower 80 for alternative contact with two cams 81 and 82 slidably mounted on a sleeve 83 against respective compression springs 84.
  • the sleeve 83 is freely slidable about an elongate rod 85.
  • One end of the rod 85 is fixed to an arm 86 extending from the block 34 and the other end is also fixed at 87.
  • the sleeve 83 is mounted on an arm 88 extending from the block 36.
  • the items 71 to 88 constitute a hydraulic servo mechanism with mechanical feedback.
  • the ratio of heaving movements at the pulleys 37 and 56 is ascertained and the displacement of the pump 57 is adjusted according to this ratio and the fixed displacement of the motor 58. Since the velocity ratios of the two sets of pulleys is the same the movement of the trolley 67 to and fro will provide a reference for the required movement of the block 35 to and fro for compensated movement of the diving chamber to maintain it at a fixed height above the sea bed, the ratio of heaving movements being apparent from the different rotational speeds of the winches 54 and 61.
  • the winch 61 is driven at a rotational velocity relative to the rotational velocity of the winch 54 in either direction at the ratio previously adjusted between the displacement of the motor 58 and the pump 52. Since the movement of the trolley 67 is determined by the rotation of the winch 61 and since the movement of the block 36 is governed by the movement of the trolley 67 the paying-out and paying-in movement of the line 32 relative to the paying-out and paying-in movement of the line 55 is also at the pre-adjust ratio so that the diving chamber is maintained at the same height above the sea bed.
  • Fig. 3 illustrates a modification of the embodiment of Fig. 2, in which the hydraulic feedback control loop is replaced by an electrical one.
  • Those elements of Fig. 3 which are the same as in Fig. 2 are denoted by like reference numerals and will not be further described.
  • the pulley 56 is coupled (if necessary via suitable gearing, not shown) to drive a position transducer 90 whose output is a voltage V proportional to paying-out and paying-in of the heave line 55.
  • the voltage V is applied across a potentiometer 92 whose slider 93 may be set to obtain an output signal A which is a given fraction of the signal V.
  • the setting of the slider 93 is chosen in a similar manner to the setting of the pump 57 in Fig. 2 to accord with the ratio of heaving movements at the pulleys 37 and 56.
  • a second position transducer 91 is driven by arm 88 on the block 36, and produces an output signal B.
  • This last signal E is used to drive the coils 98, 99 of the solenoids of an electrical servo valve generally designated at 100 via a driving amplifier 101.
  • the amplifier is so arranged that when E is positive coil 98 is driven and when E is negative coil 99 is driven, a common return being provided.
  • the driving amplifier 101 may for example be a push-pull amplifier.
  • the servo valve 100 replaces the valve 74 of Fig. 2,. and the circuits 94-98 and 101 replace the mechanical feedback system formed by the items 71-88 of Fig. 2. Apart from being electrically operated, the valve 100 is identical with the valve 74, being likewise urged towards its centre position.
  • the output of transducer 90 changes to drive D positive or negative according to the direction of heave.
  • the signal E thus changes from zero to a positive or negative value which is proportional to the difference between the heave at pulley 56 and that at pulley 37, and to the rate of change of this difference.
  • the two terms reinforce each other and result in a large signal to the appropriate coil of valve 100, and a maximum action to correct the heave. Any tendency to overcorrection is mitigated by the term G 2 .dD/dt becoming of opposite sign to the term G 1 D.
  • the compensation can be tuned to suit the mechanical characteristics of the apparatus, and any tendency either to lag or to overshoot held to acceptable limits.

Abstract

Un compensateur de la houle peut etre utilise dans des installations offshore lorsque l'on desire manipuler des charges deplacees entre deux points qui sont mobiles l'un par rapport a l'autre. Une application caracteristique est celle ou le premier point est un bateau et le second point est le lit de la mer, et la charge est une chambre de plongee (28) suspendue du bateau et que l'on veut maintenir a un hauteur sensiblement constante au-dessus du lit de la mer independamment du mouvement du bateau du a la houle. Une connexion effective entre le bateau et le lit de la mer est effectuee via un cable de houle (2) en abaissant un bloc d'ancrage relativement lourd (11) sur le lit de la mer et le mouvement du bateau du a la houle produit un mouvement rentrant et sortant du cable (12) par rapport au bateau. Un systeme de poulies est monte sur le bateau, autour duquel un cable de manipulation de la charge (22) est enroule. La tension est maintenue dans le cable de manipulation de charge (22) par des moyens hydrauliques sous pression. Le mouvement de rentree et sortie du cable de manipulation de charge (22) est effectue en raccourcissant et en allongeant la formation bouclee du cable enroule (22) et des moyens de commande sont sensibles au mouvement de rentree et de sortie du cable de houle (2) pour assurer un mouvement complaisant de rentree et de sortie du cable (22) de manipulation de la charge. Des exemples de l'invention sont decrits ou la chambre de plongee n'est pas suspendue directement sur le bloc d'ancrage, et les differents mouvements de houle des points de suspension de la chambre de plongee et du bloc d'ancrage sont pris en consideration.
EP80902120A 1979-11-17 1980-11-12 Compensateur de la houle Withdrawn EP0040210A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB7939837 1979-11-17
GB7939837 1979-11-17

Publications (1)

Publication Number Publication Date
EP0040210A1 true EP0040210A1 (fr) 1981-11-25

Family

ID=10509275

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80902120A Withdrawn EP0040210A1 (fr) 1979-11-17 1980-11-12 Compensateur de la houle

Country Status (4)

Country Link
EP (1) EP0040210A1 (fr)
BE (1) BE886205A (fr)
IT (1) IT1129864B (fr)
WO (1) WO1981001402A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2523918A1 (fr) * 1982-03-29 1983-09-30 Bretagne Atel Chantiers Dispositif de compensation du pilonnement subi par une charge immergee suspendue a partir d'un navire
FR2532612A1 (fr) * 1982-09-07 1984-03-09 Bretagne Atel Chantiers Dispositif pour le transfert de personnel entre une structure fixe ou mobile et une structure soumise a des mouvements de pilonnement
CA1239634A (fr) * 1984-07-27 1988-07-26 William D. Stringfellow Dispositif de levage a compensation de poids
US6073699A (en) * 1998-03-06 2000-06-13 Weatherford/Lamb, Inc. Single joint elevator
US5850877A (en) * 1996-08-23 1998-12-22 Weatherford/Lamb, Inc. Joint compensator
US6039118A (en) * 1997-05-01 2000-03-21 Weatherford/Lamb, Inc. Wellbore tool movement control and method of controlling a wellbore tool
US6070670A (en) * 1997-05-01 2000-06-06 Weatherford/Lamb, Inc. Movement control system for wellbore apparatus and method of controlling a wellbore tool
NO20101636A1 (no) * 2010-11-19 2012-05-21 Huse Engineering As Heismaskineri
CN108715406B (zh) * 2018-06-12 2020-02-04 衢州学院 用于波浪补偿母线侧能量管理的超级电容储能吊臂
CN112097734B (zh) * 2020-08-06 2022-05-27 中海石油(中国)有限公司深圳分公司 半潜式平台升沉测量装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1118048A (en) * 1967-01-31 1968-06-26 Rucker Co Transloader
GB1247362A (en) * 1968-02-26 1971-09-22 Hydraulic Drilling Equipment L Apparatus for positioning an object
SE394186B (sv) * 1968-06-24 1977-06-13 Murmanskoe Vysshee Morekhodnoe Anordning vid lastkran
NL139703B (nl) * 1968-08-12 1973-09-17 Ihc Holland Nv Inrichting voor het op woelig water, zoals op zee, hanteren van een last ten opzichte van een bepaald punt.
GB1253010A (fr) * 1970-04-04 1971-11-10
FR2171968A2 (en) * 1972-02-17 1973-09-28 Petroles Cie Francaise Anti-pounding device - eg used in loading and unloading supply vessels at oil drilling platform or ship
FR2197806B1 (fr) * 1972-09-06 1975-03-07 Seram
US4166545A (en) * 1977-10-11 1979-09-04 A/S Hydraulik Brattvaag Method and apparatus for transferring cargo between an ocean-located unit and a vessel

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8101402A1 *

Also Published As

Publication number Publication date
IT8068757A0 (it) 1980-11-17
WO1981001402A1 (fr) 1981-05-28
IT1129864B (it) 1986-06-11
BE886205A (fr) 1981-03-16

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Legal Events

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Effective date: 19820128

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Inventor name: MCCALLUM, ROBERT

Inventor name: GRAHAM, ROBERT STEVEN