EP3227987A1 - Electric linear actuation system equipped with energy-storage means - Google Patents
Electric linear actuation system equipped with energy-storage meansInfo
- Publication number
- EP3227987A1 EP3227987A1 EP15791647.9A EP15791647A EP3227987A1 EP 3227987 A1 EP3227987 A1 EP 3227987A1 EP 15791647 A EP15791647 A EP 15791647A EP 3227987 A1 EP3227987 A1 EP 3227987A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- electric motor
- storage means
- energy storage
- energy
- linear
- 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- Withdrawn
Links
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- 238000009826 distribution Methods 0.000 claims description 15
- 238000005553 drilling Methods 0.000 claims description 13
- 238000007667 floating Methods 0.000 claims description 5
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/002—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling
- E21B19/004—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling supporting a riser from a drilling or production platform
- E21B19/006—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling supporting a riser from a drilling or production platform including heave compensators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B35/4413—Floating drilling platforms, e.g. carrying water-oil separating devices
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/09—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods specially adapted for drilling underwater formations from a floating support using heave compensators supporting the drill string
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H23/00—Wobble-plate gearings; Oblique-crank gearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/02—Additional mass for increasing inertia, e.g. flywheels
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/02—Additional mass for increasing inertia, e.g. flywheels
- H02K7/025—Additional mass for increasing inertia, e.g. flywheels for power storage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Definitions
- the present invention relates to the field of electromechanical systems generating linear motion.
- the present invention also relates to the field of heave compensators for laying offshore drilling pipe.
- a hydraulic cylinder generally consists of a rod guided longitudinally in a cylinder. The displacement is made possible by a section secured to the rod placed inside the cylinder body and provided with a seal. Pressurized oil allows to move a load located outside and secured to the rod by creating a force on the sealed section that allows movement.
- the hydraulic cylinder can be actively controlled by playing directly on the pressure and / or the amount of oil injected, or by a more sophisticated system of servocontrol via a servovalve for example.
- the cylinder can also be used passively to accompany a displacement of a low-variable force load.
- the pressurized oil is then placed in communication with a reserve of air that will compress or relax under the effects of oil volume variations related to the movements of the cylinder rod, by slightly modifying its initial pressure. However, this compression, for lack of an infinite reservoir, will be accompanied by a variation of residual effort.
- electromechanical actuators as described in patent applications EP 1927543 and EP 2232101.
- the general principle of electromechanical actuators is to achieve the linear displacement of an element (usually a rod) by means of an electric motor.
- Indirect drive actuators they require a transmission member and mechanical conversion between the rotary actuator and its load in translation. This drive mode is the most employed because generally less expensive and satisfying in most applications.
- Direct drive actuators they aim to simplify the transmission chain by removing the intermediate member (transformation of a rotary motion into linear motion). In this case, they are true linear electromagnetic actuators.
- electromechanical actuators are consumers of electrical energy from a source of electrical energy, often an electrical distribution network, which makes their use complex, especially for use at sea.
- the present invention relates to a linear actuating system comprising a reversible linear actuator, screw-nut type, equipped with at least one reversible electric motor and energy storage means.
- the energy storage means are loaded by the linear actuating system operating as a generator and are discharged on demand into the electric motor.
- the size of the actuating system according to the invention is reduced compared to a hydraulic actuation system and the power consumption of the linear actuating system is reduced by the energy storage means.
- the invention relates to a linear actuation system comprising a movable rod connected to a reversible linear actuator of the screw-nut type, said linear actuator being driven by at least one electric motor system.
- Said linear actuation system comprises at least one energy storage means connected to said electric motor system, and said electric motor system functions as a generator for charging said energy storage means when a movement is applied on said rod and as a motor for generating a rectilinear translational motion to said rod.
- said linear actuator is a screw-nut type device comprising a plurality of rollers or balls driven by said electric motor, said plurality of rollers or balls driving a threaded rod of said linear actuator.
- said threaded rod of said actuator comprises a thread of the triangular, trapezoidal or ovoid-shaped type.
- said energy storage means comprises at least one electrical energy storage means, comprising in particular at least one electric battery and / or at least one supercapacitor.
- said energy storage means comprises at least one mechanical energy storage means, in particular at least one flywheel.
- said linear actuation system comprises control means of said electric motor system.
- said electric motor system is powered by said energy storage means.
- said linear actuation system is connected to an electrical distribution network.
- said electric motor system is powered by said power distribution network when the energy storage means are discharged or are not able to supply energy to the electric motor system.
- said electric motor system injects energy into the electrical distribution network when said electric motor system operates as a generator and when said energy storage means are loaded.
- the invention relates to a heave compensator for drilling tools attached to a mobile installation.
- Said heave compensator comprises at least one linear actuation system according to the invention for maintaining in constant tension said drilling tools.
- said compensator comprises a first muffle and a second muffle for hanging said drilling tools, said first muffle being connected to the mobile installation by means of at least two articulated arms, each articulated arm comprising at least one pulley, said heave compensator comprising a cable fixed on retaining means, said cable passing through the pulleys of said articulated arms and by said first and second muffles, said heave compensator comprising at least one linear actuation system connected to said first muffle and mobile installation.
- the mobile installation is a floating support or a ship.
- the invention also relates to a use of the linear actuation system according to the invention for a system for tensioning vertical tubes arranged between the seabed and a mobile installation.
- FIG. 1 illustrates a linear actuation system according to the invention.
- FIG. 2 illustrates a roller screw type linear actuator according to the invention (illustration from SKF ® roller screw catalog).
- FIG. 3 illustrates a heave compensator according to the invention. Detailed description of the invention
- the present invention relates to a linear actuating system that generates a linear rectilinear motion.
- the linear actuation system according to the invention comprises:
- a linear actuator of the screw-nut type for example with a thread or a ball, in particular a satellite, which reversibly converts a rotational movement into translational movement
- the screw of the linear actuator possibly corresponding to the rod of the system or being able to be attached to the system shaft
- at least one electric motor system operable as a motor, generating a rotary motion from an electric current, and adapted to function as a generator by supplying an electric current to from a rotary motion, the electric motor system driving the linear actuator and vice versa;
- the electric motor system may be, depending on the application, a motor / generator integrated in the same body or alternatively, a separate motor and generator,
- At least one energy storage means that is connected to the electric motor, and stores the energy generated when the engine is operating as a generator, and that provides power when the engine is operating as a motor.
- FIG. 1 illustrates a linear actuation system according to the invention.
- the linear actuation system 1 comprises a rod 2, a mechanical actuator 3 provided with a mechanical gear, at least one electric motor 4 and energy storage means 5.
- the axis of the linear actuator 3 corresponds to the rod 2.
- the electric motor 4 is a motor / generator (alternatively, it can be a motor and a separate generator).
- the energy storage means 5 are connected to the electric motor 4, in particular through a power electronics 7.
- the electric motor 4 is also connected to a control system of the power supply network. electrical distribution 6, in particular by means of the power electronics 7.
- the electric motor 4, the energy storage means 5 and optionally the management system of the electrical distribution network 9 can be controlled by a control electronics 8 so as to be able to supply the electric motor 4 when operating as a motor, and to recover energy supplied by the electric motor 4 to store it in the means 5 or to redistribute it to the electrical distribution network 6.
- the control electronics 8 can receive a signal from a sensor 22 placed on the rod 2.
- the sensor 22 can notably be a position sensor.
- the linear actuator is an indirect drive actuator.
- the linear actuator is a screw-nut connection between the rod and the electric motor system.
- the nut is fixed, while the rod is movable.
- the linear actuator of the screw-nut type can be a ball screw type actuator or roller screw.
- the linear actuator comprises a plurality of rolling elements, that is to say screws or rollers which are driven by the electric motor or motors and which drive a threaded portion of the screw and vice versa.
- the threaded portion of the screw is conditioned to make the linear actuator reversible; for example the screw threads of the actuator may have a triangular thread, trapezoidal, or ovoid-shaped with a helix angle greater than that of the coefficient of friction.
- the metal of the screw can be chosen to have the lowest coefficient of friction possible thanks to a suitable surface treatment. A continuous lubrication and protection system can also be provided for this purpose.
- FIG. 2 illustrates an exemplary roller screw that can be used for a linear actuation system according to the invention.
- Figure 2 is an illustration from the catalog "screw roller” SKF ® (publication 4351 EN - 2008-01).
- the roller screw 3 comprises a threaded rod surrounded by a plurality of rollers 9, the threaded rod and the rollers 9 being arranged in a nut 10.
- the threaded rod of the roller screw corresponds to the rod 2 of the linear actuating system.
- one or more motors rotate the rollers 9 which act on the threaded rod and impart to it a linear displacement force.
- the threaded rod rotates the rollers 9, which in turn drive the electric motor or motors.
- Roller screws have a very long service life, can be used for high speeds and accelerations, are precise, reliable, and have better energy efficiency than hydraulic cylinders.
- these linear actuators are designed to oppose only few friction under the effect of a load; therefore, energy can be recovered on the return phase, when motion is imposed on the threaded rod.
- the motor / generator may be universal, synchronous, asynchronous AC or DC type.
- the electric motor (s) can be brushless motors (brushless).
- the electric motor can be a squirrel cage asynchronous alternating-current AC motor.
- This type of engine / generator is generally very solid and efficient.
- this type of asynchronous motor is suitable for generator operation; indeed this type of engine is currently used in particular for wind turbines and in hybrid vehicles.
- transition from the "engine” operating mode to the "generator” operating mode can be achieved by modifying its operating configuration by means of a suitable control electronics.
- the linear actuator can be equipped on the same axis of a motor when the actuator must communicate a linear displacement force, and a generator when the actuator operates in the opposite direction.
- the switching between the motor and the generator can be effected, for example, through a double clutch controlled by a control electronics.
- the electrical energy supplied to the engine / generator or to the actuator motor can come from energy storage means and / or from another energy source, in particular an electricity distribution network.
- a DC / AC power converter inverter
- the electric motor used is DC type, it can be powered directly from the energy storage means by means of a DC / DC power converter.
- an AC / DC converter is integrated between the motor and the network.
- an AC / DC converter is integrated between the energy storage means and the electric motor.
- a DC / DC converter is integrated between the electric motor and the energy storage means.
- the energy storage means may be means for storing electrical energy or mechanical energy.
- the electrical energy storage means may comprise electric batteries and / or supercapacitors.
- the mechanical energy storage means may comprise flywheels.
- the energy storage means can be combined to provide benefits based on the strengths of each of them; the batteries can be used as the basic power supply for the system and can be supported, during punctual power calls, by supercapacitors or flywheels.
- Different types of battery can be used for the system according to the invention: lead-acid batteries, lithium-ion (preferably), lithium-polymer, nickel metal hydrides, redox flow or sodium sulfur, etc.
- Supercapacitors store energy using an electrochemical double layer principle and an electrolyte. They can restore or charge the energy in very short times, allowing to reach significant powers. Their lifespan can reach hundreds of thousands, or millions of cycles when used properly. In addition, the efficiency of supercapacitors is high: of the order of 95%.
- Flywheels store energy in kinetic form. Their power and energy characteristics are close to those of supercapacitors.
- the steering wheel can be made of composite materials or steel.
- the steering wheel includes a system for rotating and recovering energy, a suspension of electromagnetic axes. Flywheels have an almost infinite lifespan.
- Energy management can be done by a supervision system. Depending on the operating mode chosen (motor or generator), the actuators can load means for storing energy (batteries, super-capacitors, flywheels, etc.), or discharging by power demand this storage device.
- the supervision system can order the continuous measurement of the load parameters (voltage and current) of the storage means, and then calculate the control parameters such as the available power, the energy capacity, the reaction time, efficiency, etc. If the energy capacity of the storage means is not reached, the energy supplied by the actuators can be stored. In the opposite case, the energy can be directed to a power network (electrical distribution network) annex, provided that it is not overloaded. If the power network does not accept this energy, it can be diverted to a dissipation device or to another energy storage system.
- the load parameters voltage and current
- control parameters such as the available power, the energy capacity, the reaction time, efficiency, etc. If the energy capacity of the storage means is not reached, the energy supplied by the actuators can be stored. In the opposite case, the energy can be directed to a power network (electrical distribution network) annex, provided that it is not overloaded. If the power network does not accept this energy, it can be diverted to a dissipation device or to another energy storage system.
- the supervision system can give the order to continuously measure the discharge parameters (voltage and intensity) of the storage means, and then to calculate the control parameters such as the energy / power ratio, the time reaction, efficiency, etc. If the energy capacity of the storage device is sufficient, the energy can be supplied to the actuators directly through a power electronics.
- the energy necessary to recharge the storage unit or to supply the actuators is taken on the electrical distribution network, provided that it can supply the requested energy.
- All these actions can be controlled from programmable logic controllers and control loops controlled from a PC type calculator.
- the electric linear actuator with its motor has larger dimensions than the single hydraulic cylinder.
- the hydraulic actuation system also includes an electric motor assembly - hydraulic pump - oil reserve of the hydraulic actuation system, this assembly is replaced for the electrical actuation system by simple electric cables, resulting in a large gain final volume and weight.
- the linear actuator is a roller screw driven by one or more AC asynchronous electric motors, the electric motors being connected to supercapacitors for storing electrical energy by means of AC / DC converters.
- This design of the linear actuation system provides optimized energy efficiency, reduced size and weight, and good performance.
- the invention also relates to a heave compensator equipped with at least one linear actuation system according to the invention.
- the heave compensator makes it possible to keep drilling tools under constant tension during drilling operations at sea. In fact, the swell causes, among other effects, heave, that is to say an oscillatory movement of vertical translation. , floating machines.
- the invention can be applied to the compensation system described in patent application FR 2575452 (US 5520369).
- This patent discloses a device comprising two mittens, at least one compensation cylinder connected to accumulators, a cable, and two articulated arms which comprise pulleys and rods for compensating a movement for an element hooked on a mobile installation.
- the heave compensator described in this patent application requires, by the use of hydraulic cylinders, the presence of bulky and heavy accumulators.
- the heave compensator according to the invention comprises:
- a first muffle also called fixed muffle or English “Crown block", the first muffle being equipped with at least one pulley
- the second muffle being equipped with at least one pulley; preferably the first and second muffles are aligned vertically,
- an articulated system comprising at least two articulated arms, preferably two or four arms arranged symmetrically, the articulated arms connecting the mobile installation to the first muffle, each articulated arm comprising at least one pulley,
- the cable retaining means on the mobile installation may comprise at least one winch for adjusting the length of the cable
- a linear actuating system as described above one end is connected to the first muffle and the other end is related to the mobile installation, including a floating platform or a ship.
- a muffle is a mechanical device for lifting a load by several strands of cable.
- the heave movement of the mobile installation is largely compensated by the movement of the first muffle relative to the mobile installation.
- the second muffle is stationary relative to a fixed reference, for example the bottom of the sea.
- the movement of the first muffle is controlled by the linear actuation system and is enabled by the articulated system.
- FIG. 3 represents a heave compensator according to one embodiment of the invention.
- the heave compensator is installed on an offshore mobile facility.
- the compensation system allows to hang an element 16 (for example drilling tools) on a second muffle 21 by means of a hook.
- the heave compensator further comprises a first muffle 20, two articulated arms 1 1 connected to a support 15 connected to the mobile installation, two linear actuating systems 1 and a cable 13 fixed by retaining means 14, the cable 13 passing through the pulleys of the articulated arms 1 1 and the first and second muffles 20 and 21.
- the first muffle 20, the second muffle 21 and the hung member are aligned vertically, and the heave movement to be compensated is a vertical movement.
- each articulated arm 1 1 comprises a pulley 12 connected to the support 15 connected to the mobile installation, an intermediate pulley 17, a first link 18 between the pulley 12 and the pulley intermediate 17 and a second link 19 between the intermediate pulley 17 and the first muffle 8.
- the rods of the linear actuating systems 1 are completely out and the first muffle 20 is moved away from the level of the mobile installation 15. In this position, the electric motor or motors of the linear actuation 1 are powered by the energy storage means or by an electrical distribution network.
- the linear actuating system may preferably comprise a roller screw, several asynchronous AC motors and supercapacitors. This design of the linear actuation system allows optimized performance, reduced size and reduced weight of the actuation system, which allows a simplified design of the mobile installation on which the heave compensator is located.
- a variant of this system can be obtained by adding a jack coupling the muffle 20 of the crown block and the traveling block 21 to adjust more accurately the weight on the tool.
- linear actuation system according to the invention can also be used directly, without the pulley system as described in patent FR 2575452 (US 5520369). In this case, it alone ensures the maintenance in position of the load.
- linear actuation system can also be used in a system for tensioning vertical tubes, such as risers which effect the vertical connection between the seabed and the surface on floating supports for drilling or oil production. .
- linear actuation system can be used in any machine performing alternating movements under a constant effort, or almost constant.
- any machine performing displacements with cyclic and repetitive force variations such as a test tensile fatigue machine, may be equipped with the system according to the invention: when the machine pulls on the test specimen the necessary electricity is drawn from the energy storage means; when it reduces the effort, the displacement is reversed and braking back can be produced by the generator that will provide electricity to the storage means, thus allowing an interesting energy saving.
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- Engineering & Computer Science (AREA)
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- General Engineering & Computer Science (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Fluid Mechanics (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Physics & Mathematics (AREA)
- Architecture (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1461844A FR3029712B1 (en) | 2014-12-03 | 2014-12-03 | ELECTRICAL LINEAR ACTUATION SYSTEM PROVIDED WITH ENERGY STORAGE MEANS |
PCT/EP2015/076239 WO2016087171A1 (en) | 2014-12-03 | 2015-11-10 | Electric linear actuation system equipped with energy-storage means |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3227987A1 true EP3227987A1 (en) | 2017-10-11 |
Family
ID=52589559
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15791647.9A Withdrawn EP3227987A1 (en) | 2014-12-03 | 2015-11-10 | Electric linear actuation system equipped with energy-storage means |
Country Status (5)
Country | Link |
---|---|
US (1) | US10316596B2 (en) |
EP (1) | EP3227987A1 (en) |
BR (1) | BR112017008618A2 (en) |
FR (1) | FR3029712B1 (en) |
WO (1) | WO2016087171A1 (en) |
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GB201419394D0 (en) * | 2014-10-31 | 2014-12-17 | Saipem Spa | Offshore lifting of a load with heave compensation |
FR3043669B1 (en) * | 2015-11-12 | 2017-12-01 | Ifp Energies Now | MOTION COMPENSATION SYSTEM FOR A LOAD ATTACHED TO A MOBILE INSTALLATION COMPRISING HYBRID DAMPING MEANS |
FR3055481B1 (en) * | 2016-08-24 | 2018-08-17 | Ifp Energies Now | METHOD AND SYSTEM FOR ENERGY MANAGEMENT OF A SUPERCAPACITY USING AN AGING MODEL AND A PREDICTION OF THE WAVE |
DE102017223874A1 (en) * | 2017-12-29 | 2019-07-04 | Robert Bosch Gmbh | Method for operating an electric drive and control system |
EP3850211A4 (en) * | 2018-09-14 | 2022-09-28 | Ocean Harvesting Technologies AB | Power take-off device for use in a wave energy converter |
CN112520578A (en) * | 2020-12-01 | 2021-03-19 | 中建八局第四建设有限公司 | Hoisting construction method for lightering-span steel truss girder pontoon |
CN114233212B (en) * | 2021-12-28 | 2023-08-11 | 西南石油大学 | But offshore drilling platform heave compensation device of electricity generation formula |
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2014
- 2014-12-03 FR FR1461844A patent/FR3029712B1/en not_active Expired - Fee Related
-
2015
- 2015-11-10 EP EP15791647.9A patent/EP3227987A1/en not_active Withdrawn
- 2015-11-10 WO PCT/EP2015/076239 patent/WO2016087171A1/en active Application Filing
- 2015-11-10 US US15/532,868 patent/US10316596B2/en not_active Expired - Fee Related
- 2015-11-10 BR BR112017008618A patent/BR112017008618A2/en not_active Application Discontinuation
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See also references of WO2016087171A1 * |
Also Published As
Publication number | Publication date |
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WO2016087171A1 (en) | 2016-06-09 |
US20180266195A1 (en) | 2018-09-20 |
FR3029712B1 (en) | 2017-12-15 |
US10316596B2 (en) | 2019-06-11 |
BR112017008618A2 (en) | 2017-12-26 |
FR3029712A1 (en) | 2016-06-10 |
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