EP0090741A1 - Heave compensating device for a submerged load suspended from a vessel - Google Patents

Heave compensating device for a submerged load suspended from a vessel Download PDF

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Publication number
EP0090741A1
EP0090741A1 EP83400651A EP83400651A EP0090741A1 EP 0090741 A1 EP0090741 A1 EP 0090741A1 EP 83400651 A EP83400651 A EP 83400651A EP 83400651 A EP83400651 A EP 83400651A EP 0090741 A1 EP0090741 A1 EP 0090741A1
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EP
European Patent Office
Prior art keywords
cylinder
pulleys
load
cable
fixed
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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.)
Granted
Application number
EP83400651A
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German (de)
French (fr)
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EP0090741B1 (en
Inventor
Richard Eteki
Daniel Fleury
Jean-Pierre Manesse
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Alsthom Atlantique SA
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Alsthom Atlantique SA
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Priority to AT83400651T priority Critical patent/ATE14558T1/en
Publication of EP0090741A1 publication Critical patent/EP0090741A1/en
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Publication of EP0090741B1 publication Critical patent/EP0090741B1/en
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    • 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

  • the invention relates to a device for compensating for the heaving undergone by a load suspended from a ship, such as a diving turret.
  • the objective to be achieved is that the amplitude of the vertical movements of the diving turret is as low as possible, whatever that of the vertical movements of the boat, which can reach a value of twelve meters and more, in heavy seas.
  • an objective to be achieved is to reduce the amplitude of the movements of the turret between 5 to 10% of those of the boat.
  • an active compensation system for unwanted relative movements preferably during the displacement of a load, using a long-period action system for compensation of the static loading caused by said load and a short period action system for compensating for unwanted relative movements of the load relative to a reference level, comprising a compensation cylinder provided with two pistons acting in opposite directions, the cylinder, by the intermediate connection means being capable of being connected to one or more pressure tanks, the long-term system being pneumatic, air or an inert gas serving as an operating medium.
  • a system for the active compensation of the undesirable relative movements, preferably during the displacement of a load (cargo) by using a system of action with long period for the compensation of the static loading caused by the load and a system of short-time action for compensating for undesirable relative movements of the load with respect to a reference level
  • the short-period system comprises means for detecting relative movements of the load with respect to a reference level, said means comprising accelerometers, each attached to the external end of the loading arrow, to the load or to the range to which the load is attached and possibly also to said reference level when the latter is in motion and a logical comparator for comparing the measurements said accelerometers.
  • An object of the invention is to provide a more efficient device with regard to positioning accuracy and the regulation response time.
  • Another object of the invention is to provide a heave compensation device allowing, in addition to good compensation for the load, the possibility of giving it a vertical movement of controlled amplitude and speed, so as to delicately deposit the load on the bottom of the sea or on an underwater structure.
  • Another object of the invention is to provide a device for compensating for the heaving undergone by a load suspended by ropes from a boat, which keeps the wire constantly in tension, even when the load is placed on the bottom of the sea or on an underwater structure.
  • the subject of the invention is a device for compensating for the heaving undergone by a submerged load suspended from a ship by a cable fixed by one end to said load and winding by the other end to a winch placed on the ship, the cable , between the winch and the load, being wound on a muffle having a first and a second set of pulleys, the muffle being associated with means for varying the distance between the two sets of pulleys in response to signals produced by a chain regulator receiving inertial measurement results on said load and / or force measurement on said cable, said means comprising at least one jack of a first type whose cylinder is fixed relative to the boat, the first set of pulleys being integral with the cylinder, the second set of pulleys being fixed at the end of the rod of the jack, said jack being actuated by a servo-valve receiving said signals, the second set of pulleys being fixed to the rod of at least one jack of a second type, said cylinder having
  • the regulating chain comprises a first loop generating a first control signal of the means for varying the distance between the two sets of pulleys from the measurement of the vertical acceleration undergone by the boat , a second loop developing a second signal added to the first signal, said second signal being produced either from the measurement of the displacement of the rods of the cylinders of the first type relative to the boat, or from the measurement of the tension of the existing cable between the second set of pulley and the load.
  • the regulation chain comprises a third loop producing a third signal added to the first and second signals, said third signal being produced from the measurement of the relative displacement of the two sets of pulleys.
  • FIG. 1 there is shown schematically a boat 1, which comprises means for the immersion of a load 2 such as a diving bell.
  • the immersion means comprise a cable 3 fixed at one end to a winch 4 secured to the boat and passing through a well 5 made in the boat.
  • the cable passes over a block comprising a set 6 of pulleys with a fixed horizontal axis with respect to the boat and a set 7 of pulleys with a movable horizontal axis.
  • the game 6 is linked to the cylinders 8A of a set of cylinders generally referenced 8 in the figure, the set of pulleys 7 being fixed to the movable rods 8B of the cylinders.
  • the reference 10 represents a mobile carriage which is used for handling the bell when it arrives out of the water and that no longer being subjected to the force of Archimedes, its weight becomes too great for the winch 4.
  • Figures 2 and 3 show an exemplary embodiment of the block-jack assembly.
  • the movable pulleys 7A and 7B are carried by a movable carriage 17 provided with wheels 18A, 18B resting on rails 19A, 19B.
  • the carriage is connected to the rods 21A, 22A, 23A, 24A, jacks 21, 22, 23, 24 having cylinders 21B, 22B, 23B and 24B, the role of which will be explained below.
  • the cylinders 21, 23 are high power passive cylinders, connected to a high pressure oil-gas accumulator 26A and to a low pressure oil-gas accumulator 26C by l 'through a valve 31, safety valves 32, 33 and a directional valve 34.
  • the role of passive cylinders 21, 23 is to make the system roughly astatic so that in the absence of maneuvers of the winch, the cable does not unwind by itself.
  • the stiffness of the spring constituted by the accumulator is adjusted by increasing the pressure of the gas, which is contained in a reservoir 35.
  • a regulator 36 which separates the reservoir from the accumulators 26A and 26C by means of valves 36A and 36C, can be operated manually according to a pressure chart with the length of the cable unwound, or automatically. Nitrogen is preferably chosen as the gas for the accumulators.
  • the accumulator 26A When the charge is maintained between two waters, the accumulator 26A is used which ensures the astatism of the system; the valve 34 then puts 31 and 32 into communication.
  • the valve 36A is open and the valve 36C closed.
  • valve 34 When the load is placed on the seabed, or on a superstructure, only the accumulator 26C is used so as to permanently ensure the tension of the cable.
  • the valve 34 then communicates 31 and 33.
  • the valve 36A is closed and the valve 36C is open.
  • the pressure in the accumulator 26C can also be adjusted manually or automatically.
  • FIG. 4 This jack is hydraulically supplied through an electrically controlled servo valve 41 and connected on one side to an oil supply system comprising a pump 42 driven by a motor 43, a tarpaulin 44 and a member 45 of oil cooling, preferably with water; on the other side, the servo-valve is connected on either side of the piston 22C of the jack 22, by means of a bypass valve 46 connected to a reservoir of pressurized oil 47.
  • a first role of the bypass valve 46 is to circulate the quantity of oil necessary for the movements of the piston 22C, by making the concerned chamber of the cylinder communicate with the pressure tank 47, in the event of an electrical failure.
  • a second role of the bypass valve 46 is to block, if necessary the jack 22, by preventing any circulation of oil on one side or the other of the piston.
  • the reference 50 designates a reel, the cable 50A of which is linked to the carriage.
  • the angular position of this reel gives a signal representative of the position of the cylinder rods.
  • Figure 5 is a general diagram of the entire device showing the boat 1, the load 2, the cable 3, the winch 4, the pulleys of the movable axis 7, the jacks (passive 21, active 22), the accumulator 26A and servo valve 41.
  • a first embodiment of the regulatory chain is shown in figure 6.
  • the chain includes a first regulation loop (trend or anticipation loop) which uses the measurement of the instantaneous vertical acceleration of the ship (accelerometer 60); from this measurement, a circuit 61 generates an opposing signal sent to the servo-valve 41.
  • a first regulation loop trend or anticipation loop
  • a second loop includes a measurement of the acceleration x "of the pulley 7.
  • a second loop makes it possible to inject a correction signal which is a function of the estimation of the acceleration of the turret.
  • This loop includes a circuit 62 for calculating the instantaneous speed of the turret and a circuit 63 for developing the correction signal.
  • the circuit 63 receives, by an adder circuit 64, the signal from the accelerometer.
  • An adder circuit 65 makes it possible to collect and add the signals of the two preceding loops.
  • a third regulation loop (called position control or drift correction) whose role is to constantly refocus the load around the set value, comprises a member 66 of the measurement xa of the vertical displacement of the pulley 7 by report to the boat and a comparator circuit 67 receiving the setpoint. Adding circuits 68 and 69 are used in this loop.
  • An alternative embodiment of the servo system consists in replacing, in the second loop, the measurement of the acceleration of the load by the measurement of the tension T of the cable at the hook for attaching the load.
  • the chain circuits are analog or digital.
  • the device which has just been described allows compensation for the heaving of the load which is reduced to a value less than 10% of that of the heaving of the ship.
  • the passive cylinders associated with the accumulators allow compensation close to 50%.
  • the Active cylinders give the possibility of precisely adjusting the altitude of the load, which is particularly advantageous when depositing a load on a structure or at the bottom of the sea.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Supports For Pipes And Cables (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Chair Legs, Seat Parts, And Backrests (AREA)
  • Electric Cable Installation (AREA)

Abstract

1. Device for the compensation of the pitch whereto a submerged load (2) is exposed which is suspended from a vessel (1) through a cable (3) one end of which is fixed to said load and the other end of which is wound on a winch (4) placed on the vessel, the cable, between the winch and the load, being wound on a tackle having first (6) and second (7) sets of pulleys, the tackle being associated with means (8) for causing the distance between the two sets of pulleys to vary in response to signals generated by a control chain receiving the results of inertial measurements at said load and/or of force measurements on said cable, said means comprising at least one jack (22) of a first type (active jack) the cylinder (22B) of which is fixed with respect to the vessel, the first set (6) of pulleys being rigidly connected to the cylinder, the second set (7) of pulleys being fixed to the end of the rod (22A) of the jack, said jack being actuated by a servo-valve (41) receiving said signals, the second set (7) of pulleys being further fixed to the rod (21A) of at least one jack (21) of a second type (passive jack), said jack having a cylinder (21B) which is fixed with respect to the vessel, said cylinder being connected to at least one hydraulic accumulator (26A) of the oil-gas type, characterized in that the accumulator (26A) is connected to a compressed gas source (35) through release means (36) having an output pressure which is adjustable in function of the length of the unwound cable in a manner to render the system substantially astatic.

Description

L'invention est relative à un dispositif de compensation du pilonnement subi par une charge suspendue à partir d'un navire, telle qu'une tourelle de plongée. L'objectif a atteindre est que l'amplitude des mouvements verticaux de la tourelle de plongée soit la plus faible possible, quelle que soit celle des mouvements verticaux du bateau, qui eux peuvent atteindre une valeur de douze mètres et plus, par grosse mer.The invention relates to a device for compensating for the heaving undergone by a load suspended from a ship, such as a diving turret. The objective to be achieved is that the amplitude of the vertical movements of the diving turret is as low as possible, whatever that of the vertical movements of the boat, which can reach a value of twelve meters and more, in heavy seas.

En particulier, un objectif à atteindre est de ramener l'amplitude des mouvements de la tourelle entre 5 à 10% de ceux du bateau.In particular, an objective to be achieved is to reduce the amplitude of the movements of the turret between 5 to 10% of those of the boat.

On connait déjà des dispositifs permettant de compenser le pilonnement d'une charge suspendue suspendue à un navire.Devices are already known to compensate for the heaving of a suspended load suspended from a ship.

On connaît en particulier par le brevet français n° 78 02009, un système de compensation active des mouvements relatifs indésirables, de préférence pendant le déplacement d'une charge, en utilisant un système d'action à longue période pour la compensation du chargement statique provoqué par ladite charge et un système d'action à courte période pour la compensation de mouvements relatifs indésirables de la charge par rapport à un niveau de référence, comprenant un cylindre de compensation muni de deux pistons agissant en sens opposés, le cylindre, par l'intermédiaire de moyens de connexion étant susceptible d'être relié à un ou plusieurs réservoirs de pression, le système à longue période étant pneumatique, l'air ou un gaz inerte servant de milieu de fonctionnement.We know in particular from French patent n ° 78 02009, an active compensation system for unwanted relative movements, preferably during the displacement of a load, using a long-period action system for compensation of the static loading caused by said load and a short period action system for compensating for unwanted relative movements of the load relative to a reference level, comprising a compensation cylinder provided with two pistons acting in opposite directions, the cylinder, by the intermediate connection means being capable of being connected to one or more pressure tanks, the long-term system being pneumatic, air or an inert gas serving as an operating medium.

On connaît également un système pour la compensation active des mouvements relatifs indésirables, de préférence pendant le déplacement d'une charge (cargaison) en utilisant un système d'action à longue période pour la compensation du chargement statique provoqué par la charge et un système d'action à courte période pour la compensation des mouvements relatifs indésirables de la charge par rapport à un niveau de référence, dans lequel le système à courte période comprend des moyens pour la détection des mouvements relatifs de la charge par rapport à un niveau de référence, lesdits moyens comprenant des accéléromètres, chacun attaché à l'extrémité externe de la flèche de chargement, à la charge ou à la portée à laquelle la charge est attaché et éventuellement aussi audit niveau de référence lorsque celui-ci est en mouvement et un comparateur logique pour comparer les mesures desdits accéléromètres.A system is also known for the active compensation of the undesirable relative movements, preferably during the displacement of a load (cargo) by using a system of action with long period for the compensation of the static loading caused by the load and a system of short-time action for compensating for undesirable relative movements of the load with respect to a reference level, in which the short-period system comprises means for detecting relative movements of the load with respect to a reference level, said means comprising accelerometers, each attached to the external end of the loading arrow, to the load or to the range to which the load is attached and possibly also to said reference level when the latter is in motion and a logical comparator for comparing the measurements said accelerometers.

Un but de l'invention est de réaliser un dispositif plus performant en ce qui concerne la précision de positionnement et le temps de réponse de régulation.An object of the invention is to provide a more efficient device with regard to positioning accuracy and the regulation response time.

Un autre but de l'invention est de réaliser un dispositif de compensation de pilonnement permettant, outre une bonne compensation pour la charge, la possibilité de donner à celle-ci un mouvement vertical d'amplitude et de vitesse contrôlées, de manière à déposer délicatement la charge sur le fond de la mer ou sur une structure sous-marine.Another object of the invention is to provide a heave compensation device allowing, in addition to good compensation for the load, the possibility of giving it a vertical movement of controlled amplitude and speed, so as to delicately deposit the load on the bottom of the sea or on an underwater structure.

Un autre but de l'invention est de réaliser un dispositif de compensation du pilonnement subi par une charge suspendue par des filins à partir d'un bateau, qui maintienne le fil constamment en tension, même lorsque la charge est posée sur le fond de la mer ou sur une structure sous-marine.Another object of the invention is to provide a device for compensating for the heaving undergone by a load suspended by ropes from a boat, which keeps the wire constantly in tension, even when the load is placed on the bottom of the sea or on an underwater structure.

L'invention a pour objet un dispositif de compensation du pilonnement subi par une charge immergée suspendue à un navire par un câble fixé par une extrémité à ladite charge et s'enroulant par l'autre extrémité à un treuil placé sur le navire, le câble, entre le treuil et la charge, étant enroulé sur un moufle ayant un premier et un second jeu de poulies, le moufle étant associé à des moyens pour faire varier la distance entre les deux jeux de poulies en réponse à des signaux élaborés par une chaîne de régulation recevant des résultats de mesure inertielles sur ladite charge et/ou de mesure de force sur ledit câble, lesdits moyens comprenant au moins un vérin d'un premier type dont le cylindre est fixe par rapport au bateau, le premier jeu de poulies étant solidaires du cylindre, le second jeu de poulies étant fixé à l'extrémité de la tige du vérin, ledit vérin étant actionné par une servo-valve recevant lesdits signaux, le second jeu de poulies étant fixé à la tige d'au moins un vérin d'un second type, ledit vérin ayant un cylindre fixe par rapport au bateau, ledit cylindre étant relié à au moins un accumulateur hydraulique du type huile-gaz, caractérisé en ce que l'accumulateur est relié à une source de gaz comprimé par l'intermédiaire d'un détendeur à pression de sortie réglable en fonction de la longueur de câble déroulée.The subject of the invention is a device for compensating for the heaving undergone by a submerged load suspended from a ship by a cable fixed by one end to said load and winding by the other end to a winch placed on the ship, the cable , between the winch and the load, being wound on a muffle having a first and a second set of pulleys, the muffle being associated with means for varying the distance between the two sets of pulleys in response to signals produced by a chain regulator receiving inertial measurement results on said load and / or force measurement on said cable, said means comprising at least one jack of a first type whose cylinder is fixed relative to the boat, the first set of pulleys being integral with the cylinder, the second set of pulleys being fixed at the end of the rod of the jack, said jack being actuated by a servo-valve receiving said signals, the second set of pulleys being fixed to the rod of at least one jack of a second type, said cylinder having a cylinder fixed relative to the boat, said cylinder being connected to at least one hydraulic accumulator of the oil-gas type, characterized in that the accumulator is connected to a source of compressed gas by means of a regulator with outlet pressure adjustable as a function of the length of cable unwound.

Selon une autre caractéristique de l'invention, la chaîne de régulation comprend une première boucle élaborant un premier signal de commande des moyens de faire varier la distance entre les deux jeux de poulie à partir de la mesure de l'accélération verticale subie par le bateau, une seconde boucle élaborant un second signal ajouté au premier signal, ledit second signal étant élaboré soit à partir de la mesure du déplacement des tiges des vérins du premier type par rapport au bateau, soit à partir de la mesure de la tension du câble existant entre le second jeu de poulie et la charge.According to another characteristic of the invention, the regulating chain comprises a first loop generating a first control signal of the means for varying the distance between the two sets of pulleys from the measurement of the vertical acceleration undergone by the boat , a second loop developing a second signal added to the first signal, said second signal being produced either from the measurement of the displacement of the rods of the cylinders of the first type relative to the boat, or from the measurement of the tension of the existing cable between the second set of pulley and the load.

Avantageusement la chaîne de régulation comprend une troisième boucle élaborant un troisième signal ajouté aux premier et second signaux, ledit troisième signal étant élaboré à partir de la mesure du déplacement relatif des deux jeux de poulies.Advantageously, the regulation chain comprises a third loop producing a third signal added to the first and second signals, said third signal being produced from the measurement of the relative displacement of the two sets of pulleys.

L'invention sera bien comprise par la description donnée ci-après d'un mode préféré de réalisation de l'invention, en référence au dessin annexé dans lequel :

  • - La figure 1 est un schéma de principe des éléments mécaniques du dispositif selon l'invention.
  • - La figure 2 est une vue en élévation partielle du dispositif selon l'invention.
  • - la figure 3 est une vue en plan de la même partie du dispositif.
  • - La figure 3A est une coupe selon la ligne AA de la figure 2.
  • - La figure 4 est un schéma détaillé du circuit hydraulique du dispositif.
  • - La figure 5 est un schéma montrant les prises de mesure pour la régulation du dispositif.
  • - La figure 6 est un schéma par bloc du système de régulation électronique dont est muni le dispositif de l'invention.
The invention will be better understood from the description given below of a preferred embodiment of the invention, with reference to the appended drawing in which:
  • - Figure 1 is a block diagram of the mechanical elements of the device according to the invention.
  • - Figure 2 is a partial elevational view of the device according to the invention.
  • - Figure 3 is a plan view of the same part of the device.
  • - Figure 3A is a section along the line AA in Figure 2.
  • - Figure 4 is a detailed diagram of the hydraulic circuit of the device.
  • - Figure 5 is a diagram showing the measurements taken for the regulation of the device.
  • - Figure 6 is a block diagram of the electronic regulation system with which the device of the invention is provided.

Dans la figure 1 on a représenté schématiquement un bateau 1, qui comprend des moyens pour l'immersion d'une charge 2 telle qu'une cloche à plongeur.In Figure 1 there is shown schematically a boat 1, which comprises means for the immersion of a load 2 such as a diving bell.

Les moyens d'immersion comprennent un câble 3 fixé par une extrémité à un treuil 4 solidaire du bateau et passant par un puits 5 ménagé dans le bateau.The immersion means comprise a cable 3 fixed at one end to a winch 4 secured to the boat and passing through a well 5 made in the boat.

Le câble passe sur un moufle comprenant un jeu 6 de poulies d'axe horizontal fixe par rapport au bateau et un jeu 7 de poulies d'axe horizontal mobile. Pour cela le jeu 6 est lié aux cylindres 8A d'un ensemble de vérins référencés globalement 8 dans la figure, le jeu de poulies 7 étant fixé aux tiges mobiles 8B des vérins.The cable passes over a block comprising a set 6 of pulleys with a fixed horizontal axis with respect to the boat and a set 7 of pulleys with a movable horizontal axis. For this, the game 6 is linked to the cylinders 8A of a set of cylinders generally referenced 8 in the figure, the set of pulleys 7 being fixed to the movable rods 8B of the cylinders.

La référence 10 représente un chariot mobile qui sert à la manutention de la cloche lorsqu'elle arrive hors de l'eau et que n'étant plus soumis à la force d'Archimède, son poids devient trop important pour le treuil 4.The reference 10 represents a mobile carriage which is used for handling the bell when it arrives out of the water and that no longer being subjected to the force of Archimedes, its weight becomes too great for the winch 4.

Les figures 2 et 3 montrent un exemple de réalisation de l'ensemble moufle-vérins.Figures 2 and 3 show an exemplary embodiment of the block-jack assembly.

On distingue un bâti métallique 20, les poulies d'axe fixe référencées 6A, 6B et 6C et le câble 3 dont les extrémités sont reliés à la charge 2 et au treuil 4.There is a metal frame 20, the pulleys with a fixed axis referenced 6A, 6B and 6C and the cable 3, the ends of which are connected to the load 2 and to the winch 4.

Les poulies mobiles 7A et 7B sont portées par un chariot mobile 17 muni de roues 18A, 18B reposant sur des rails 19A, 19B. Le chariot est relié aux tiges 21A, 22A, 23A, 24A, de vérins 21, 22, 23, 24 ayant des cylindres 21B, 22B, 23B et 24B, dont le rôle va être expliqué plus loin.The movable pulleys 7A and 7B are carried by a movable carriage 17 provided with wheels 18A, 18B resting on rails 19A, 19B. The carriage is connected to the rods 21A, 22A, 23A, 24A, jacks 21, 22, 23, 24 having cylinders 21B, 22B, 23B and 24B, the role of which will be explained below.

Dans le bâti sont disposés des accumulateurs 26A, 26B et 26C coopérant avec les vérins comme il va être décrit maintenant en référence à la figure 4. Dans cette figure le chariot qui entraîne le jeu de poulies mobile 7 est figuré par la barre 17A.In the frame are arranged accumulators 26A, 26B and 26C cooperating with the jacks as will now be described with reference to FIG. 4. In this figure the carriage which drives the set of movable pulleys 7 is shown by the bar 17A.

Les vérins 21, 23 (seul le vérin 21 est visible dans les schémas de la figure 4) sont des vérins passifs de forte puissance, reliés à un accumulateur huile-gaz haute pression 26A et à un accumulateur 26C huile-gaz basse pression par l'intermédiaire d'une valve 31, de valves de sureté 32, 33 et d'une valve directionnelle 34. Le rôle des vérins passifs 21, 23 est de rendre le système à peu près astatique de manière qu'en l'absence de manoeuvres du treuil, le câble ne se déroule pas de lui-même.The cylinders 21, 23 (only the cylinder 21 is visible in the diagrams of FIG. 4) are high power passive cylinders, connected to a high pressure oil-gas accumulator 26A and to a low pressure oil-gas accumulator 26C by l 'through a valve 31, safety valves 32, 33 and a directional valve 34. The role of passive cylinders 21, 23 is to make the system roughly astatic so that in the absence of maneuvers of the winch, the cable does not unwind by itself.

Ce sont donc les vérins 21, 23 qui compensent le poids de la charge et du câble . Ce poids s'accroit au fur et à mesure du déroulement du câble. On ajuste la raideur du ressort que constitue l'accumulateur en augmentant la pression du gaz, lequel est contenu dans un réservoir 35. Un détendeur 36 qui sépare le réservoir des accumulateurs 26A et 26C par l'intermédiaire de vannes 36A et 36C, peut être manoeuvré manuellement en fonction d'un abaque pression longueur de câble déroulé, ou automatiquement. On choisi de préférence l'azote comme gaz pour les accumulateurs.It is therefore the jacks 21, 23 which compensate for the weight of the load and cable. This weight increases as the cable unwinds. The stiffness of the spring constituted by the accumulator is adjusted by increasing the pressure of the gas, which is contained in a reservoir 35. A regulator 36 which separates the reservoir from the accumulators 26A and 26C by means of valves 36A and 36C, can be operated manually according to a pressure chart with the length of the cable unwound, or automatically. Nitrogen is preferably chosen as the gas for the accumulators.

Lorsque la charge est maintenue entre deux eaux, on utilise l'accumulateur 26A qui assure l'astatisme du système ; la valve 34 met alors en communication 31 et 32. La vanne 36A est ouverte et la vanne 36C fermée.When the charge is maintained between two waters, the accumulator 26A is used which ensures the astatism of the system; the valve 34 then puts 31 and 32 into communication. The valve 36A is open and the valve 36C closed.

Lorsque la charge est posée sur le fond de la mer, ou sur une superstructure, seul l'accumulateur 26C est utilisé de manière à assurer en permanence la tension du câble. La valve 34 fait alors communiquer 31 et 33. La valve 36A est fermée et la valve 36C est ouverte.When the load is placed on the seabed, or on a superstructure, only the accumulator 26C is used so as to permanently ensure the tension of the cable. The valve 34 then communicates 31 and 33. The valve 36A is closed and the valve 36C is open.

La pression dans l'accumulateur 26C peut également être ajustée manuellement ou automatiquement.The pressure in the accumulator 26C can also be adjusted manually or automatically.

On notera qu'il y a deux vérins passifs 21 et 23, alimentés identiquement soit par le même système 26A, 260, 35 soit par deux systèmes identiques. C'est par souci d'exercer sur le chariot 17 une force bien parallèle à la direction de déplaement du chariot, de manière à éviter tout risque de coincement qu'a été choisi ce montage symétrique par rapport au plan médian de la voie 18A, 18B du chariot.It will be noted that there are two passive jacks 21 and 23, supplied identically either by the same system 26A, 260, 35 or by two identical systems. It is for the sake of exerting on the carriage 17 a force well parallel to the direction of movement of the carriage, so as to avoid any risk of jamming that this symmetrical assembly has been chosen with respect to the median plane of track 18A, 18B of the carriage.

On observe que la seule mise en service des vérins passifs 21, 23 assure déjà une compensation du pilonnement de l'ordre de 50%.It can be seen that the mere commissioning of the passive jacks 21, 23 already provides for heave compensation of around 50%.

Une compensation plus complète est obtenu grâce à deux vérins actifs 22, 24 (on a le nombre de deux vérins actifs pour les mêmes raisons de symétrie que pour les vérins passifs) dont les tiges 22A et 24A sont fixées au chariot 17 (figuré par la barre 17A de la figure 4). Seul le vérin 22 est représenté dans la figure 4. Ce vérin est alimenté hydrauliquement à travers une servo-valve 41 commandée électriquement et reliée d'un côté à un système d'alimentation en huile comprenant une pompe 42 entraînée par un moteur 43, une bâche 44 et un organe 45 de refroidissement d'huile, de préférence à eau ; de l'autre côté la servo-valve est reliée de part et d'autre du piston 22C du vérin 22, par l'intermédiaire d'une valve de dérivation 46 reliée à un réservoir d'huile sous-pression 47.A more complete compensation is obtained thanks to two active jacks 22, 24 (there are the number of two active jacks for the same reasons of symmetry as for the passive jacks) whose rods 22A and 24A are fixed to the carriage 17 (shown by the bar 17A in FIG. 4). Only the jack 22 is shown in FIG. 4. This jack is hydraulically supplied through an electrically controlled servo valve 41 and connected on one side to an oil supply system comprising a pump 42 driven by a motor 43, a tarpaulin 44 and a member 45 of oil cooling, preferably with water; on the other side, the servo-valve is connected on either side of the piston 22C of the jack 22, by means of a bypass valve 46 connected to a reservoir of pressurized oil 47.

Les ordres reçus par la servo-valve sont élaborés par une chaîne de régulation qui est décrite plus loin et sont de trois type :

  • - boucle de tendance (bloc 51)
  • - régulation d'accélération (bloc 52)
  • - correction de dérive, dans un sens ou un autre (bloc 53).
The orders received by the servo-valve are developed by a regulation chain which is described below and are of three types:
  • - trend loop (block 51)
  • - acceleration regulation (block 52)
  • - drift correction, in one direction or another (block 53).

Un premier rôle de la vanne de dérivation 46 est de faire circuler la quantité d'huile nécessaire aux mouvements du piston 22C, en faisant communiquer la chambre concernée du cylindre avec le réservoir sous pression 47, en cas de panne électrique.A first role of the bypass valve 46 is to circulate the quantity of oil necessary for the movements of the piston 22C, by making the concerned chamber of the cylinder communicate with the pressure tank 47, in the event of an electrical failure.

Un second rôle de la vanne de dérivation 46 est de bloquer, si nécessaire le vérin 22, en interdisant toute circulation d'huile d'un côté ou de l'autre du piston.A second role of the bypass valve 46 is to block, if necessary the jack 22, by preventing any circulation of oil on one side or the other of the piston.

La référence 50 désigne un enrouleur dont le câble 50A est lié au chariot.The reference 50 designates a reel, the cable 50A of which is linked to the carriage.

La position angulaire de cet enrouleur donne un signal représentatif de la position des tiges des vérins.The angular position of this reel gives a signal representative of the position of the cylinder rods.

La figure 5 est un schéma général de l'ensemble du dispositif montrant le bateau 1, la charge 2, le câble 3, le treuil 4, les poulies d'axe mobile 7, les vérins (passif 21, actif 22), l'accumulateur 26A et la servo-valve 41.Figure 5 is a general diagram of the entire device showing the boat 1, the load 2, the cable 3, the winch 4, the pulleys of the movable axis 7, the jacks (passive 21, active 22), the accumulator 26A and servo valve 41.

Les mesures effectuées et destinées à être introduites dans la chaîne de régulation sont les suivantes :

  • 1/ l'accélération a" instantanée verticale du bateau ; la mesure est faite par un accéléromètre à inertie (a est le déplacement vertical instantané du bateau, a' la vitesse verticale instantanée du bateau) 2/ la tension T sur le câble 3/ le déplacement relatif x-a du jeu de poulie 7 (ou du crochet auquel est suspendu la charge) ; cette mesure est obtenue par exemple par le dispositif à enrouleur 50 mentionné précédemment ; x désigne le déplacement instantané du crochet mobile.
The measurements carried out and intended to be introduced into the regulatory chain are as follows:
  • 1 / the vertical instantaneous acceleration "of the boat; the measurement is made by an inertia accelerometer (a is the instantaneous vertical displacement of the boat, at the instantaneous vertical speed of the boat) 2 / the tension T on the cable 3 / the relative displacement xa of the pulley set 7 (or of the hook to which the load is suspended); this measurement is obtained for example by the reel device 50 mentioned previously; x denotes the instantaneous displacement of the movable hook.

Un premier mode de réalisation de la chaîne de régulation est représenté dans la figure 6.A first embodiment of the regulatory chain is shown in figure 6.

La chaîne comprend une première boucle de régulation (boucle de tendance ou d'anticipation) qui utilise la mesure de l'accélération instantanée verticale du navire (accéléromètre 60) ; à partir de cette mesure un circuit 61 élabore un signal antagoniste envoyé sur la servo-valve 41.The chain includes a first regulation loop (trend or anticipation loop) which uses the measurement of the instantaneous vertical acceleration of the ship (accelerometer 60); from this measurement, a circuit 61 generates an opposing signal sent to the servo-valve 41.

Une deuxième boucle comprend une mesure de l'accélération x" de la poulie 7.A second loop includes a measurement of the acceleration x "of the pulley 7.

Une deuxième boucle (dite de régulation d'accélération) permet d'injecter un signal de correction fonction de l'estimation de l'accélération de la tourelle. Cette boucle comprend un circuit 62 de calcul de la vitesse instantanée de la tourelle et un circuit 63 d'élaboration du signal de correction. Le circuit 63 reçoit, par un circuit additionneur 64, le signal issu de l'accéléromètre.A second loop (called acceleration regulation) makes it possible to inject a correction signal which is a function of the estimation of the acceleration of the turret. This loop includes a circuit 62 for calculating the instantaneous speed of the turret and a circuit 63 for developing the correction signal. The circuit 63 receives, by an adder circuit 64, the signal from the accelerometer.

Un circuit additionneur 65 permet de recueillir et d'additionner les signaux des deux boucles précédentes.An adder circuit 65 makes it possible to collect and add the signals of the two preceding loops.

Une troisième boucle de régulation (dite d'asservissement de position ou de correction de dérive) dont le rôle est de recentrer constamment la charge autour de la valeur de consigne, comprend un organe 66 de la mesure x-a du déplacement vertical de la poulie 7 par rapport au bateau et un circuit comparateur 67 recevant la consigne. Des circuits additionneurs 68 et 69 sont utilisés dans cette boucle.A third regulation loop (called position control or drift correction) whose role is to constantly refocus the load around the set value, comprises a member 66 of the measurement xa of the vertical displacement of the pulley 7 by report to the boat and a comparator circuit 67 receiving the setpoint. Adding circuits 68 and 69 are used in this loop.

Une variante de réalisation du système d'asservissement consiste à remplacer, dans la seconde boucle, la mesure de l'accélération de la charge par la mesure de la tension T du câble au niveau du crochet d'attache de la charge.An alternative embodiment of the servo system consists in replacing, in the second loop, the measurement of the acceleration of the load by the measurement of the tension T of the cable at the hook for attaching the load.

Le reste du système est inchangé.The rest of the system is unchanged.

Les circuits de la chaîne sont analogique ou numérique.The chain circuits are analog or digital.

Le dispositif qui vient d'être décrit permet une compensation du pilonnement de la charge qui est ramenée à une valeur inférieure à 10% de celle du pilonnement du navire.The device which has just been described allows compensation for the heaving of the load which is reduced to a value less than 10% of that of the heaving of the ship.

En cas de panne de la partie active du dispositif, les vérins passifs associés aux accumulateurs, permettent une compensation voisine de 50%.In the event of failure of the active part of the device, the passive cylinders associated with the accumulators allow compensation close to 50%.

On notera qu'en plus du rôle de compensation de pilonnement, les vérins actifs donnent la possibilité d'ajuster avec précision l'altitude de la charge, ce qui est particulièrement intéressant dans le cas de dépose d'une charge sur une structure ou au fond de la mer.Note that in addition to the heave compensation role, the Active cylinders give the possibility of precisely adjusting the altitude of the load, which is particularly advantageous when depositing a load on a structure or at the bottom of the sea.

Claims (3)

1/ Dispositif de compensation du pilonnement subi par une charge (2) immergée suspendue à un navire (1) par un câble (3) fixé par une extrémité à ladite charge et s'enroulant par l'autre extrémité à un treuil (4) placé sur le navire, le câble, entre le treuil et la charge, étant enroulé sur un moufle ayant un premier (6) et un second (7) jeu de poulies, le moufle étant associé à des moyens (8) pour faire varier la distance entre les deux jeux de poulies en réponse à des signaux élaborés par une chaîne de régulation recevant des résultats de mesure inertielles sur ladite charge et/ou de mesure de force sur ledit câble, lesdits moyens comprenant au moins un vérin (22) d'un premier type dont le cylindre (22B) est fixe par rapport au bateau, le premier jeu (6) de poulies étant solidaires du cylindre, le second jeu (7) de poulies étant fixé à l'extrémité de la tige (22A) du vérin, ledit vérin étant actionné par une servo-valve (41) recevant lesdits signaux, le second jeu (7) de poulies étant fixé à la tige (21A) d'au moins un vérin (21) d'un second type, ledit vérin ayant un cylindre (21B) fixe par rapport au bateau, ledit cylindre étant relié à au moins un accumulateur hydraulique (26A) du type huile-gaz, caractérisé en ce que l'accumulateur (26A) est relié à une source de gaz comprimé (35) par l'intermédiaire d'un détendeur (36) à pression de sortie réglable en fonction de la longueur de câble déroulée. 2/ Dispositif selon la revendication 1, caractérisé en ce que la servo-valve (41) est reliée au cylindre (22B) du vérin par l'intermédiaire d'une vanne de dérivation (46) elle-même reliée à un réservoir (47) d'huile sous pression.1 / Device for compensating for the heaving undergone by a submerged load (2) suspended from a ship (1) by a cable (3) fixed by one end to said load and winding by the other end to a winch (4) placed on the ship, the cable, between the winch and the load, being wound on a muffle having a first (6) and a second (7) set of pulleys, the muffle being associated with means (8) for varying the distance between the two sets of pulleys in response to signals produced by a regulation chain receiving inertial measurement results on said load and / or force measurement on said cable, said means comprising at least one actuator (22) a first type, the cylinder (22B) of which is fixed relative to the boat, the first set (6) of pulleys being integral with the cylinder, the second set (7) of pulleys being fixed to the end of the rod (22A) of the cylinder, said cylinder being actuated by a servo-valve (41) receiving said signals, the second set (7) of pulleys t fixed to the rod (21A) of at least one cylinder (21) of a second type, said cylinder having a cylinder (21B) fixed relative to the boat, said cylinder being connected to at least one hydraulic accumulator (26A) of the oil-gas type, characterized in that the accumulator (26A) is connected to a source of compressed gas (35) by means of a pressure reducer (36) with outlet pressure adjustable as a function of the cable length unfolded. 2 / Device according to claim 1, characterized in that the servo-valve (41) is connected to the cylinder (22B) of the jack via a bypass valve (46) itself connected to a reservoir (47 ) pressurized oil. 3/ Dispositif selon la revendication 1, caractérisé en ce que la chaîne de régulation comprend une première boucle (60, 61) élaborant un premier signal de commande des moyens de faire varier la distance entre les deux jeux de poulie à partir de la mesure de l'accélération verticale subie par le bateau, une seconde boucle élaborant un second signal ajouté au premier signal, ledit second signal étant élaboré soit à partir de la mesure du déplacement des tiges des vérins du premier type par rapport au bateau, soit à partir de la mesure (62') de la tension du câble existant entre le second jeu de poulie et la charge.3 / Device according to claim 1, characterized in that the regulation chain comprises a first loop (60, 61) producing a first control signal of the means for varying the distance between the two sets of pulleys from the measurement of the vertical acceleration undergone by the boat, a second loop producing a second signal added to the first signal, said second signal being produced either from the measurement of the displacement of the rods of the cylinders of the first type relative to the boat, or from the measure (62 ') of the tension of the cable existing between the second set of pulley and the load. 4/ Dispositif selon la revendication 3, caractérisé en ce que la chaîne de régulation comprend une troisième boucle élaborant un troisième signal ajouté aux premier et second signaux, ledit troisième signal étant élaboré à partir de la mesure (66) du déplacement relatif des deux jeux de poulies (6) et (7).4 / Device according to claim 3, characterized in that the regulation chain comprises a third loop developing a third signal added to the first and second signals, said third signal being produced from the measurement (66) of the relative displacement of the two sets pulleys (6) and (7).
EP83400651A 1982-03-29 1983-03-29 Heave compensating device for a submerged load suspended from a vessel Expired EP0090741B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT83400651T ATE14558T1 (en) 1982-03-29 1983-03-29 SHAFT COMPENSATION DEVICE FOR AN UNDERWATER LOAD ATTACHED TO A SHIP.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8205309 1982-03-29
FR8205309A FR2523918A1 (en) 1982-03-29 1982-03-29 DEVICE FOR COMPENSATING FOR THE PILKING SUFFERED BY A SUBMERSIBLE LOAD SUSPENDED FROM A SHIP

Publications (2)

Publication Number Publication Date
EP0090741A1 true EP0090741A1 (en) 1983-10-05
EP0090741B1 EP0090741B1 (en) 1985-07-31

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EP83400651A Expired EP0090741B1 (en) 1982-03-29 1983-03-29 Heave compensating device for a submerged load suspended from a vessel

Country Status (5)

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EP (1) EP0090741B1 (en)
AT (1) ATE14558T1 (en)
DE (1) DE3360459D1 (en)
FR (1) FR2523918A1 (en)
NO (1) NO831079L (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1280726A1 (en) * 2000-04-05 2003-02-05 Cooper Cameron Corporation Active deployment system and method
US8297597B2 (en) 2007-09-19 2012-10-30 National Oilwell Varco Norway As Method for lift compensation
CN106364630A (en) * 2016-09-22 2017-02-01 华中科技大学 Semi-active heave compensation system for cabled underwater robot
CN110186648A (en) * 2019-06-19 2019-08-30 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） Seaway load free sailing model ship tests protective device and its application method
CN111039177A (en) * 2019-12-24 2020-04-21 攀钢集团西昌钢钒有限公司 Bridge crane wire rope length measuring device
CN112097734A (en) * 2020-08-06 2020-12-18 中海石油(中国)有限公司深圳分公司 Semi-submersible platform heave measuring device

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CN101746493B (en) * 2010-01-29 2012-06-27 纪建阳 Submarine sightseeing diving system

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GB2045196A (en) * 1979-03-31 1980-10-29 Ferranti Ltd Cable tensioning device
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WO1981001402A1 (en) * 1979-11-17 1981-05-28 Caley Hydraulics Ltd Heave compensator

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GB1511428A (en) * 1976-07-21 1978-05-17 British Columbia Res Council Heave compensating cranes
FR2378709A1 (en) * 1977-01-28 1978-08-25 Strommen Staal As ACTIVE COMPENSATION SYSTEM FOR RELATIVE UNDESIRABLE MOVEMENTS, PREFERRED WHILE MOVING A LOAD (CARGO)
FR2383876A2 (en) * 1977-03-17 1978-10-13 Elf Aquitaine Stabilisation system for barge anchored at sea - compensates for variation of distance between barge and sea bottom
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1280726A1 (en) * 2000-04-05 2003-02-05 Cooper Cameron Corporation Active deployment system and method
EP1280726A4 (en) * 2000-04-05 2006-12-13 Cooper Cameron Corp Active deployment system and method
US8297597B2 (en) 2007-09-19 2012-10-30 National Oilwell Varco Norway As Method for lift compensation
CN106364630A (en) * 2016-09-22 2017-02-01 华中科技大学 Semi-active heave compensation system for cabled underwater robot
CN106364630B (en) * 2016-09-22 2018-07-24 华中科技大学 One kind having half Active Heave Compensation System of cable underwater robot
CN110186648A (en) * 2019-06-19 2019-08-30 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） Seaway load free sailing model ship tests protective device and its application method
CN110186648B (en) * 2019-06-19 2020-10-30 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） Wave load self-propelled ship model test protection device and use method thereof
CN111039177A (en) * 2019-12-24 2020-04-21 攀钢集团西昌钢钒有限公司 Bridge crane wire rope length measuring device
CN112097734A (en) * 2020-08-06 2020-12-18 中海石油(中国)有限公司深圳分公司 Semi-submersible platform heave measuring device

Also Published As

Publication number Publication date
EP0090741B1 (en) 1985-07-31
FR2523918A1 (en) 1983-09-30
DE3360459D1 (en) 1985-09-05
ATE14558T1 (en) 1985-08-15
FR2523918B1 (en) 1985-05-03
NO831079L (en) 1983-09-30

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