KR20160011789A - A Dynamic Positioning System - Google Patents

A Dynamic Positioning System Download PDF

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Publication number
KR20160011789A
KR20160011789A KR1020140092791A KR20140092791A KR20160011789A KR 20160011789 A KR20160011789 A KR 20160011789A KR 1020140092791 A KR1020140092791 A KR 1020140092791A KR 20140092791 A KR20140092791 A KR 20140092791A KR 20160011789 A KR20160011789 A KR 20160011789A
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KR
South Korea
Prior art keywords
external force
marine structure
sea
sensing unit
marine
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KR1020140092791A
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Korean (ko)
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이현호
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현대중공업 주식회사
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Priority to KR1020140092791A priority Critical patent/KR20160011789A/en
Publication of KR20160011789A publication Critical patent/KR20160011789A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means

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  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Feedback Control In General (AREA)

Abstract

The present invention relates to a position control system. Provided is a system for controlling the position of a marine structure including a ship, comprising: an external force sensing unit sensing external force in a space in which the marine structure is positioned; an analysis unit analyzing the influence of the external force applied to the marine structure; and a position compensation unit controlling the position of the marine structure considering the influence of the external force, wherein the external force sensing unit senses the external force being spaced at a regular distance from the marine structure in the space in which the marine structure is positioned, the analysis unit calculates the degree of changing the position of the marine structure by the external force, and the position compensation unit adjusts the position of the marine structure in the direction of offsetting the position change due to the external force before or as soon as the external force have an influence on the marine structure. The position control system according to the present invention makes the external force sensing unit float on the surface of the sea or be installed on the outer side of the marine structure, analyzes waves or the like sensed by the external force sensing unit and calculates the influence of the external force to be applied on the marine structure to control a position, thereby maximizing the efficiency of the position control. In addition, the position control system according to the present invention predicts that the position of the marine structure will be changed due to external force such as waves or the like, and drives thruster considering the change of the position, thereby offsetting the change of the position due to the external force to minimize the movement of the position.

Description

A Dynamic Positioning System

The present invention relates to a position control system.

Due to the recent rapid industrialization, the use of resources such as oil has skyrocketed, and the stable production and supply of oil is becoming a very important issue. However, the oil field in the continental or coastal waters has already been drilled. In recent years, interest has been focused on the development of a deep-sea deep-sea oil field. Drilling is generally used to drill deep-sea oilfields.

Drill ship is an offshore structure that is equipped with advanced drilling equipment and is built in a shape similar to that of a ship so that it can be sailed by its own power. It is capable of collecting raw oil or gas in deep sea area where an offshore platform can not be installed, It is advantageous that the drilling can be terminated and the drilling can be carried out by moving to another point.

Such drillings include Derrick, which has a Moonpool structure in a vertically penetrating form and is located above the drum and has drilling rigs. Hereinafter, the process of drilling the bottom of the drill ship will be described.

First, the drill ship uses its own power to move to the drilling area and drives a Dynamic Positioning System (DPS) using a plurality of thrusters to maintain the position.

Thereafter, the drill bit is connected to a drill pipe by a drill bit, and a plurality of drill pipes are connected by a sufficient length by using a Hoisting System and a Handling System provided in Derrick, And the drilling pipe is rotated through a rotating system to form a borehole.

Once drilling is completed, Derek picks up the drill pipe, installs the casing pipe on the borehole, and performs the cementing process to fill the concrete between the casing pipe and the borehole. The drilling operation used and the casing and cementing work for installing the casing pipe are repeatedly performed to maintain the shape of the borehole having a certain depth.

When the casing pipe is installed enough to prevent the borehole from falling down, BOP (Blow Out Preventer) is connected to the riser to be connected to the borehole. In this case, the inside of the riser becomes the path of movement of the drill pipe and casing pipe.

However, lubrication and cooling of the drill bit in the drilling process, and processing of the crushed material such as rock mass produced in the borehole are required. Therefore, the drill feeds the mud to the inside of the drill pipe so that the mud is discharged at the end of the drill bit, and after the mud performs lubrication and cooling of the drill bit, (Mud Circulation System) is used. The recovered mud is re-used after the pulverized material is filtered.

The drillship repeatedly performs drilling, casing and cementing operations until the drill bit reaches the well, while driving this mud circulation system. In this case, as the diameter of the casing pipe used in the casing work becomes smaller, Drilling can be implemented continuously by replacing small drill bits.

As such, the drill rig has a system for installing and using pipes and risers, a system using a mud, and the like. In order to smoothly perform drilling work using such a system, a drill hole structure, a derrick structure, and a load structure Is required to be disposed within a certain space, so that research and development are being continuously carried out as a result of a high technological power being required.

However, in order to fix the position of the drill bit to a predetermined point, conventionally, after locating the drill bit through GPS, the position of the drill bit is adjusted by operating the thruster afterwards, And there is also a problem in that the influence of the external force applied to the drill can not be considered at all.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art, and it is an object of the present invention to provide a method and apparatus for measuring a wave or the like using an external force sensing unit floating on a sea surface or provided outside a sea structure, And to provide a position control system that enables lexical position control instead of posterior position control.

It is also an object of the present invention to provide a position control system capable of detecting an external force such as a wave and analyzing how the position of a marine structure is to be changed thereby to minimize a position change by operating a thruster in advance .

According to another aspect of the present invention, there is provided a position control system for controlling a position of a marine structure including a vessel, the system comprising: an external force sensing unit for sensing an external force in a space where the marine structure is located; An analysis unit for analyzing an influence of the external force applied to the marine structure; And a position compensating unit for controlling the position of the sea structure in consideration of the influence of the external force, wherein the external force sensing unit senses an external force in a state in which the sea structure is spaced apart from the sea structure by a predetermined distance, Wherein the analysis unit calculates an extent to which the position of the marine structure is changed by the external force, and the position compensating unit calculates the position of the marine structure before or at the time when the external force affects the marine structure, In the direction for canceling the positional change caused by the positional change.

Specifically, the external force sensing unit may sense an external force that changes the position of the sea structure.

Specifically, the external force sensing unit may sense an external force in a floating state on a sea surface in a space where the sea structure is located.

Specifically, the external force sensing unit may be installed on an outer surface of the sea structure to sense an external force.

Specifically, the external force sensing unit may be provided in the sea structure to sense an external force using a radar.

Specifically, the external force sensing unit may sense an external force to be applied to the marine structure after a predetermined time.

Specifically, the analysis unit may predict the extent to which the position of the sea structure is changed by the external force.

Specifically, the position compensating unit may adjust the position of the sea structure so as to correspond to the degree of position change of the sea structure calculated by the analyzing unit.

Specifically, the position compensating unit may adjust a position of the sea structure by operating a plurality of thruster units provided in the sea structure.

In the position control system according to the present invention, the external force sensing unit is suspended on the sea surface or installed outside the sea structure, and the influence of the external force to be applied to the sea structure is calculated by analyzing the waves sensed by the external force sensing unit, By implementing the position control, the efficiency of the position control can be maximized.

Further, the position control system according to the present invention predicts that the position of the marine structure will be changed due to an external force such as a wave, drives the thruster in consideration thereof, and minimizes the position shift by canceling the positional change caused by the external force have.

1 is a side view of a marine structure having a position control system according to an embodiment of the present invention.
2 is a plan view of a marine structure having a position control system according to an embodiment of the present invention.
3 is a side view of a marine structure having a position control system according to an embodiment of the present invention.
4 is a block diagram of a position control system in accordance with an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The objects, particular advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a side view of a marine structure having a position control system according to an embodiment of the present invention.

Referring to FIG. 1, the marine structure 1 according to the present invention may be a structure floating on the sea such as a ship and performing various works. Especially, since the marine structure 1 is fixed at a fixed point, It may be a drillship or semi-submersible. In this case, when the marine structure 1 is a structure for performing a drilling operation, the marine structure 1 includes a structure (Moonpool) 10 and a derrick 20 (Derrick) for supplying a drill pipe and a riser to the sea bed can do. The description of the frame and the derrick is generally known, and thus the description thereof is omitted.

The marine structure 1 includes a thruster 30 to be described below for using a position control system 40 (DPS: Dynamic Positioning System) to propel or maintain the position at a constant point.

The thruster 30 is formed so as to protrude from the lower surface (bottom surface) of the marine structure 1, and may be provided in plural in front and in the rear. For example, three thruster (30) are provided in front of the marine structure (1) and three in the rear.

However, in order to prevent the interference of the flow between the thruster (s) 30, the thruster (s) 30 may be arranged to be shifted from each other in the front and rear positions or the right and left positions. That is, the front thruster 30 is arranged in a triangular configuration, and the rear thruster 30 can be arranged in a triangular configuration.

3 is a side view of a marine structure having a position control system according to an embodiment of the present invention, and FIG. 4 is a side view of the marine structure with a position control system according to an embodiment of the present invention. Figure 2 is a block diagram of a position control system in accordance with an embodiment of the invention.

2 to 4, a position control system 40 according to an embodiment of the present invention includes a system for controlling the position of a marine structure 1 including a ship, An analyzing unit 42, and a position compensating unit 43.

The external force sensing unit 41 senses an external force in a space where the marine structure 1 is located. Here, the external force sensed by the external force sensing unit 41 means all forces that can be applied to the sea structure 1, such as waves, tides, winds, etc., to change the position of the sea structure 1.

The external force sensing unit 41 may be installed at a position spaced apart from the marine structure 1 as shown in FIG. This is because the external force sensed by the external force sensing unit 41 is transmitted to the marine structure 1 when the position compensating unit 43 is to adjust the position of the marine structure 1 based on the external force sensed by the external force sensing unit 41. [ (1) in order to analyze the effect of external force for a period of time before the influence is applied.

The external force sensing portion 41 may be disposed on the left and right sides of the front and rear sides of the marine structure 1, respectively. This is because, when the marine structure 1 is in the form of a vessel such as a drill ship, external forces inclined forward and backward are the most problematic in position control. Therefore, the external force sensing unit 41 can be arranged as shown in FIG. 2 to sense an external force in a direction in which the position of the sea structure 1 can be changed most greatly.

At this time, the external force sensing unit 41 can sense the external force in a floating state on the sea surface in the space where the sea resisting structure 1 is located. That is, the external force sensing unit 41 is provided with a sensor (various sensors such as an acceleration sensor can be used, not shown) for sensing an external force such as a wave, ), It is possible to secure sufficient buoyancy to maintain the floating state on the sea surface while protecting the sensor.

The external force sensing unit 41 can perform six degrees of freedom motion by an external force in a floated state on the sea surface. In this case, the motion of the external force sensing unit 41 can be detected as an external force. However, when the external force sensing unit 41 has a light weight, the external force sensing unit 41 may be excessively shaken to reduce the efficiency of the position control. The external force sensing unit 41 may be included in the external force It may have sufficient weight or damping structure to remove small tangential elements (elements that suddenly increase or decrease in external force for a short time).

The external force sensing unit 41 may sense an external force for changing the position of the marine structure 1. However, if the external force sensing unit 41 senses an external force through the shaking motion, the external force sensing unit 41 may be influenced and an external force that can not change the position of the rescue structure 1 may be sensed. Therefore, the external force sensing unit 41 may be composed of a plurality of external force sensing units 41. The external force sensing unit 41 may analyze the external force sensed by the plurality of external force sensing units 41, Analysis can be performed by filtering only the external force.

The external force sensing unit 41 may float at a position spaced apart from the marine structure 1 and connected to the analysis unit 42 by wire or wirelessly to transmit the external force sensing data to the analysis unit 42. At this time, the external force sensing unit 41 may transmit the data to the analyzing unit 42 in real time or may transmit the accumulated data to the analyzing unit 42 at predetermined time intervals.

The external force sensing unit 41 can sense the external force by the shaking or can sense the external force using the radar to increase the accuracy of the external force sensing. At this time, the external force sensing unit 41 may be fixedly installed on the marine structure 1 as shown in FIG.

2, the external force sensing unit 41 may sense an external force using a radar in a floating state as shown in FIG. 2. At this time, the sensed data through the radar is transmitted to the analysis unit 42 of the marine structure 1 Lt; / RTI >

In addition to detecting the external force through the radar, the external force sensing unit 41 can sense the external force by grasping the image of the sea surface. That is, the external force sensing unit 41 may store the sea level as an image and transmit the same to the analysis unit 42.

The external force sensing unit 41 may be installed on the outer surface of the marine structure 1 to sense an external force. In this case, the external force sensing unit 41 can be fixedly installed on the side wall of the marine structure 1 without buoyancy, unlike the case shown in FIG.

When the external force sensing part 41 is fixed to the side wall of the floating structure 1, the installation position of the external force sensing part 41 is the same as or similar to that described with reference to FIG. That is, the external force sensing unit 41 may be provided on the front left and right and rear left and right of the sea structure 1, respectively.

Of course, the present invention does not limit the arrangement of the external force sensing portion 41 as described above. That is, the external force sensing unit 41 may be installed at any position capable of sensing an external force affecting the marine structure 1.

The external force sensing unit 41 may sense an external force to be applied to the marine structure 1 after a predetermined time. This is because the analysis is performed for a period of time before the external force sensed by the external force sensing unit 41 affects the marine structure 1 and the position of the marine structure 1 is adjusted in advance by using the position compensating unit 43 In order to make it possible.

In order for the external force sensing unit 41 to sense an external force to be applied to the marine structure 1 after a predetermined time, the external force sensing unit 41 may be disposed at a position away from the marine structure 1 to sense an external force, It is possible to grasp the external force through a method such as radar or image shooting for a point fixedly installed on the structure 1 and away from the sea structure 1. [

The analysis unit 42 analyzes the influence of the external force to be applied to the marine structure 1. The analysis unit 42 can calculate the degree to which the position of the marine structure 1 is changed by the external force. The degree of change of the position of the marine structure 1 means that the position of the marine structure 1 is actually changed , But it means that it is virtually changed.

That is, the external force sensing unit 41 senses an external force that may affect the marine structure 1 at a point remote from the marine structure 1 and transmits the external force to the analysis unit 42. The analysis unit 42 It is possible to predict and analyze how the position of the marine structure 1 will change when the external force reaches the marine structure 1.

If the analysis unit 42 analyzes the position change of the marine structure 1 after the external force is applied to the marine structure 1, this is only posterior position control. Therefore, the analysis unit 42 of this embodiment can analyze the external force to be applied to the marine structure 1 in order to realize the positional control in advance.

At this time, a method of analyzing the change of the position of the marine structure 1 based on the external force sensed by the external force sensing unit 41 may be performed using a general equation of motion of the ship, This is a widely used analytical method and a detailed description thereof will be omitted.

The degree of position change of the marine structure 1 derived by the analysis unit 42 means a value to be canceled by the position control system 40. Therefore, the position compensating unit 43, which will be described later, can maintain the position of the marine structure 1 constant depending on whether the position of the marine structure 1 calculated by the analyzing unit 42 is changed or not.

The position compensating unit 43 controls the position of the marine structure 1 in consideration of the influence of the external force. The position compensating section 43 can adjust the position of the marine structure 1 before or at the time when the external force affects the marine structure 1 in the direction opposite to the direction of the external force.

The external force considered by the position compensating unit 43 may mean only the external force that affects the position of the marine structure 1 filtered out of the external force sensed by the external force sensing unit 41. [ The external force sensing unit 41 senses an external force that will affect the marine structure 1 after a predetermined time and the analysis unit 42 can derive the degree of position change assuming that the external force has reached the marine structure 1 The position compensating unit 43 changes the position of the marine structure 1 in advance by using the degree of position change calculated by the analyzing unit 42 or changes the direction of the external force in accordance with the time point when the external force reaches .

That is, the position compensating unit 43 can adjust the position of the marine structure 1 to correspond to the degree of positional change of the marine structure 1 calculated by the analyzing unit 42, The influence of the external force can be greatly reduced by changing the position of the marine structure 1 before the position is changed by changing the position of the marine structure 1 or by changing the position of the marine structure 1 at the time when the external force reaches.

Specifically, the external force is a wave approaching the left side of the marine structure 1, for example, and is a force capable of moving the marine structure 1 to the right by 5 m and reaches the marine structure 1 after about 10 seconds The position compensating section 43 can move the marine structure 1 to the left side by 2.5 m before the external force reaches. At this time, even if the external force reaches the sea structure 1, the sea structure 1 is moved only to a position 2.5 m off the right side with respect to a certain point, so that the sea structure 1 will be moved only within a radius of 2.5 m based on a certain point, It can be minimized.

Or the position compensating unit 43 can push the marine structure 1 to the left side after 10 seconds, assuming that the external force is detected and analyzed. In this case, as the marine structure 1 tries to move in the direction opposite to the direction of the external force at the moment when the external force reaches the marine structure 1, the propulsion direction of the marine structure 1 and the direction of the external force are canceled, The structure 1 can eventually remain in a constant position.

Thus, the position compensating section 43 adjusts the position of the marine structure 1 in advance so as to correspond to the degree of change of the position of the marine structure 1 calculated by the analyzing section 42, The position of the marine structure 1 is changed by the external force, thereby preventing a problem from occurring.

The position compensating unit 43 can adjust the position of the sea structure 1 by operating the plurality of thruster units 30 provided in the sea structure 1 and can also adjust the position of the sea structure 1 by using a propeller The position compensating unit 43 can adjust the position of the marine structure 1 by operating the propeller. That is, the position compensating unit 43 adjusts the position of the marine structure 1 by the various propulsion facilities provided in the marine structure 1.

As described above, in the present embodiment, the position of the marine structure 1 is not adjusted after the position of the marine structure 1 is changed by the external force, but the position of the marine structure 1 is minimized by the external force, Can be maximized.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification and the modification are possible.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1: marine structure 10:
20: Derrick 30: Thruster
40: Position control system 41: External force sensing unit
42: Analysis section 43: Position compensation section

Claims (9)

A system for controlling the position of a marine structure including a vessel,
An external force sensing unit for sensing an external force in a space where the marine structure is located;
An analysis unit for analyzing an influence of the external force applied to the marine structure; And
And a position compensator for controlling the position of the sea structure in consideration of the influence of the external force,
The external force sensing unit senses an external force in a space where the sea structure is located and is spaced apart from the sea structure by a predetermined distance,
The analysis unit calculates an extent to which the position of the sea structure is changed by the external force,
Wherein the position compensating unit adjusts the position of the marine structure before or at the time when the external force exerts an influence on the marine structure in a direction to cancel the position change due to the external force. The apparatus as claimed in claim 1,
And detects an external force for changing the position of the marine structure. The apparatus as claimed in claim 1,
And detects an external force in a floating state on a sea surface in a space where the sea structure is located. The apparatus as claimed in claim 1,
And an external force installed on an outer surface of the marine structure to sense an external force. The apparatus as claimed in claim 1,
And an external force is detected by using a radar provided in the marine structure. The apparatus as claimed in claim 1,
And detects an external force to be applied to the marine structure after a predetermined time. The apparatus according to claim 1,
And estimates the degree to which the position of the marine structure is changed by the external force. 2. The apparatus of claim 1,
And adjusts the position of the marine structure so as to correspond to the degree of change of the position of the marine structure calculated by the analysis unit. 2. The apparatus of claim 1,
Wherein a plurality of thruster units provided in the marine structure are operated to adjust the position of the marine structure.
KR1020140092791A 2014-07-22 2014-07-22 A Dynamic Positioning System KR20160011789A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190111842A1 (en) * 2016-03-31 2019-04-18 Faraday&Future Inc. Camera based auto drive auto charge

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190111842A1 (en) * 2016-03-31 2019-04-18 Faraday&Future Inc. Camera based auto drive auto charge
US11117517B2 (en) * 2016-03-31 2021-09-14 Faraday&Future Inc. Camera based auto drive auto charge
US11707999B2 (en) 2016-03-31 2023-07-25 Faraday & Future Inc. Camera based auto drive auto charge

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