NO343286B1 - Inline active subsea heave compensator - Google Patents

Inline active subsea heave compensator Download PDF

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Publication number
NO343286B1
NO343286B1 NO20160301A NO20160301A NO343286B1 NO 343286 B1 NO343286 B1 NO 343286B1 NO 20160301 A NO20160301 A NO 20160301A NO 20160301 A NO20160301 A NO 20160301A NO 343286 B1 NO343286 B1 NO 343286B1
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Norway
Prior art keywords
cylinder
volume
gas
hydraulic fluid
piston
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NO20160301A
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Norwegian (no)
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NO20160301A1 (en
Inventor
Tord Martinsen
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Safelink As
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Priority to NO20160301A priority Critical patent/NO343286B1/en
Priority to MYPI2018702584A priority patent/MY195788A/en
Priority to CA3013291A priority patent/CA3013291A1/en
Priority to SG11201806374YA priority patent/SG11201806374YA/en
Priority to MX2018010086A priority patent/MX2018010086A/en
Priority to AU2017222997A priority patent/AU2017222997B2/en
Priority to EP17756897.9A priority patent/EP3420177A4/en
Priority to SG10201913227WA priority patent/SG10201913227WA/en
Priority to PCT/NO2017/050049 priority patent/WO2017146591A2/en
Priority to BR112018016959-5A priority patent/BR112018016959B1/en
Priority to US16/079,038 priority patent/US11111113B2/en
Publication of NO20160301A1 publication Critical patent/NO20160301A1/en
Publication of NO343286B1 publication Critical patent/NO343286B1/en

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    • 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
    • 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
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/06—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using both gas and liquid

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Silicates, Zeolites, And Molecular Sieves (AREA)
  • Actuator (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

An inline active heave compensator, IAHC, (100) comprises a first cylinder (1) with a first connection means (5) at its upper end (5) connected to a vessel (102) or a payload (101). A first piston rod (3) extends from a first piston (2) located within the first cylinder (1) through the lower end (4) thereof and is equipped with a second connection means (4), at its lower end, connected to the vessel (102) or the payload (101).The first cylinder (1) contains a first volume of hydraulic fluid, between the first piston (2) and the lower end (4) thereof as well as a second volume of hydraulic fluid between the first piston (2) and the upper end (5) of the first cylinder (1). A sensing arrangement, such as e.g. first piston position sensor (6), may be present in the first cylinder (1). A third cylinder (22) contains a third piston (20). A means for hydraulic fluid transportation (17) is adapted for transporting hydraulic fluid between the second volume of hydraulic fluid in the first cylinder (1) and a certain volume of hydraulic fluid in the third cylinder (22). An accelerometer (29) can also be integrated into the compensator (100) and adapted to measure the movement of the compensator (100).Then the means for hydraulic fluid transportation (17) can be controlled based on direct or indirect measurements from both the sensing arrangement (6, 10, 19, 30-36) and the accelerometer (29).

Description

The inline heave compensator (IHC) is an installation tool designed to compensate vertical heave motion during sensitive installation of a payload in an offshore environment. The vertical heave source is typically generated by an installation vessel motion and/or crane tip motion and/or a secondary vessel, such like a barge, but not limited only thereto. The IHC is designed to operate in air or in water. The IHC is an inline tool that combines the principles of spring isolation with active cylinder control in order to generate an efficient compensation effect. The tool can operate like a traditional gas-over-hydraulic fluid spring-dampening device if the active component fails.
Thus, the present invention relates to an inline heave compensator with attachment devices for connecting an end of the compensator to a vessel and another end to a payload, and comprises a first cylinder with a piston and a piston rod, the piston dividing the cylinder into a first and a second hydraulic fluid filled volume, a second and a third cylinder with a second and a third pistons, conduit means to connect the volumes of the first cylinder with one hydraulic fluid filled volume of the second and third cylinder respectively.
BACKGROUND OF THE INVENTION
Many prior art active heave compensators exist, like the one described in e.g. US 2010/0057279 A1. One of the differences between the prior art and the invention is for example that the IHC is a mobile compensator for inline use with a passive backup system to go subsea with the payload being installed, while traditional active compensators often do not have a passive backup system and always stay topside on an installation vessel.
The main disadvantages of the prior art are: high capital binding in permanent installed (i.e. not mobile) equipment which is often only needed a few weeks per year, high installation costs, high maintenance costs (especially related to fatigue in steel wire rope), poor splash zone crossing performance due to fast dynamics, poor performance for short wave periods due to fast dynamics, poor resonance protection, high power demand and lack of models for heavy lifts.
US 4724970 A – Compensating device for a crane hook – Describes a heave compensator which equalizes external pressure through a double-acting piston.
US 2008/251980 A1 – Depth compensated subsea passive heave compensator – Describes a passive heave compensator being depth compensated having two piston rod extending out of compensator; one connected to subsea equipment, the other exposed to sea water pressure at different sea depths, and thereby giving a compensating effect.
EP2982638 A1 – Multi function heave compensator – Describes a heave compensator where pressure in liquid filled chamber beneath the load bearing first piston is controlled by transportation of liquid from another chamber with liquid filled chamber beneath a second piston and gas above piston, transportation of liquid is controlled by a sensing arrangement measuring equilibrium position of first piston and controlling a valve between the two fluid filled chambers.
NO 2014/0672 A – Self adjusting heave compensator – Describes a self-adjusting heave compensator which is controlled by position sensors measuring the equilibrium position to the piston, and when it deviates from predetermined values, due to higher pressure, a valve arrangement will adjust pressure, and thereby equilibrium position of piston, through expelling liquid to surrounding sea.
The invention has the following advantages compared to the prior art; lower cost for same capacity, as good performance for long wave periods and better performance for short wave periods, excellent splash zone crossing performance, well-suited for resonance protection, reduced wear of the steel wire rope, low energy consumption. However, the compensator uses some of the available lifting height, and it is required to pre-set the compensator before usage. Furthermore, when using a battery pack for the compensator, there could be some limited usable compensation time per lift.
SUMMARY OF THE INVENTION
The main features of the present invention are given in the independent claim. Additional features of the invention are given in the dependent claims.
The IHC can basically be a kind of a passive heave compensator, which traditionally is an inline tool, with an added active component to increase the performance. The energy source for the compensator can be either a large battery pack or an energy source on the vessel connected to the compensator via an umbilical.
Inline heave compensator provided with attachment devices for connecting an end of the compensator to a vessel and another end to a payload, comprises a first cylinder with a piston and a piston rod dividing the cylinder into a first and second hydraulic fluid filled volume, a second and a third cylinder with a second and a third pistons, conduit means to connect the volumes of the first cylinder with one hydraulic fluid filled volume of the second and third cylinder respectively. The compensator incorporates at least one pump enabling controlled fluid transportation the first and third cylinders based on measurements received from the sensing arrangement and an accelerometer, measuring position of the compensator, and thereby actively increasing performance of the heave compensator, in order to continuously have a net zero relative motion between the attachment device and seabed.
According to one embodiment of the invention an inline heave compensator / IHC comprises: a first cylinder having an upper end and a lower end; a first connection means mounted at the upper end of the first cylinder and adapted for connecting the first cylinder to at least one of: a vessel at sea surface and a payload; a first piston located within the first cylinder and adapted for reciprocation with respect thereto; a first piston rod connected to the first piston and extending downwardly therefrom through the lower end of the first cylinder; a second connector means adapted for securing the first piston rod at least one of: the vessel at the sea surface and the payload, and located at the lower end of the first cylinder. There is a first volume of hydraulic fluid located between the first piston and the lower end of the first cylinder. There is a second volume of hydraulic fluid located between the first piston and the upper end of the first cylinder. The compensator further comprises a second cylinder containing a second piston. There is a third volume of hydraulic fluid located between the lower end of the second cylinder and the second piston. The compensator further comprises a third cylinder containing a third piston. There is a fourth volume of hydraulic fluid located between the third piston and the upper end of the third cylinder. A means for hydraulic fluid transportation is adapted for transporting hydraulic fluid between the second volume of hydraulic fluid in the first cylinder and the fourth volume of hydraulic fluid in the third cylinder. The hydraulic fluid is transported between the second volume of hydraulic fluid in the first cylinder and the means of hydraulic fluid transportation via a sixth conduit means connected to the upper side of the first cylinder. The hydraulic fluid is transported between the fourth volume of hydraulic fluid in the third cylinder and the means of hydraulic fluid transportation via a fifth conduit means connected to the upper side of the third cylinder. The hydraulic fluid is transported between the first volume of hydraulic fluid located at the lower side of the first cylinder and the third volume of hydraulic fluid located at lower side of the second cylinder via a first conduit means connecting the lower sides of the first and the second cylinder. A sensing arrangement is adapted for direct or indirect measuring an equilibrium position of at least one of: the first piston and the first piston rod, relative to at least one of: the lower and upper ends of the first cylinder. The means for hydraulic fluid transportation is controlled based on the direct or indirect measurements from the sensing arrangement.
Furthermore, there is a first volume of gas located between the upper end of the second cylinder and the second piston. Thus, the gas pressure in the first gas volume in the second cylinder effectively pressurizes the first hydraulic fluid volume in the first cylinder via the first conduit means, as well as the third hydraulic fluid volume in the second cylinder. There is also a third gas volume located between the third piston and the lower end of the third cylinder. Thus, the gas pressure in the third gas volume in the third cylinder effectively pressurizes the fourth hydraulic fluid volume in the third cylinder.
The compensator further comprises a fourth cylinder and a fifth cylinder. There is a second gas volume located in the fourth cylinder. There is also a fourth gas volume located in the fifth cylinder. A means for gas transportation is adapted for transporting gas between any combination of: the first gas volume, the second gas volume, the third gas volume and the fourth gas volume, where the means for gas transportation is adapted to expel gas to the surroundings from any of: the first gas volume, the second gas volume, the third gas volume and the fourth gas volume. A second conduit means is adapted for transporting gas between the first gas volume in the second cylinder and the means of gas transportation. A third conduit means is adapted for transporting gas between the second gas volume in the fourth cylinder and the means of gas transportation. A fourth conduit means is adapted for transporting gas between the third gas volume in the third cylinder and the means of gas transportation. A ninth conduit means is adapted for transporting gas between the fourth gas volume in the fifth cylinder and the means of gas transportation. A valve can be used to separate the first gas volume in the second cylinder and the fourth gas volume in the fifth cylinder. An eighth conduit means is adapted for transporting gas between the first gas volume in the second cylinder and the valve. A seventh conduit means is adapted for transporting gas between the fourth gas volume in the fifth cylinder and the valve.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1-2 are schematic illustrations of two versions or embodiments of the IHC according to the present invention in which the major component parts of the IHC are specifically identified.
Figure 1 shows a basic version or embodiment of the IHC.
Figure 2 shows another version or embodiment of the IHC with additional features.
Figure 3 shows a placement of the IHC in a subsea lift, wherein it is located right above a payload, which is symbolized with a rectangle.
Figure 4 shows a placement of the IHC in a topside lift, wherein it is located right above a payload located on a barge.
Figure 5 is an illustration of a prior art active heave compensator, permanently installed topside.
DETAILED DESCRIPTION OF THE EMBODIMENTS
The following section will describe how an inline heave compensator, IHC, (100) according to the present invention works during different phases of an offshore subsea lift. It is assumed that a payload (101) is initially on a barge (103) next to an installation vessel (102), as shown in figure 4. This payload (101) has to be retrieved by the vessel (102). Then the payload (101) needs to cross the splash zone. Next there is a long descent of the payload (101) into deeper waters. And finally landing of the equipment (101) on a seabed (106), as shown in figure 3. Here the payload (101) should be at rest relative to the seabed (106). An accelerometer (29) can measure the position of the compensator (100), which position is affected by the movement of the vessel (102)). Piston or piston rod sensors can measure the movement of the payload (101). If the payload (101) is not at rest, the oil or hydraulic fluid pump will either push or brake the first or main piston (2), so that the net movement of the payload (101) will be zero.
The IHC (100) can comprise a sensing arrangement or means, such as for example at least one piston position sensor (6, 10, 19). Based on direct or indirect measurements from at least one of these sensors (6, 10, 19), the IHC (100) will be able to calculate how a means for hydraulic fluid transportation (17) should operate to transport hydraulic fluid between a hydraulic fluid volume in a first cylinder (1) and another hydraulic fluid volume in another (third) cylinder (22) in order to continuously have a net zero relative motion between a second connection means (4) located at a lower end of a first piston rod (3) within the first cylinder (1) and the seabed (106). When the payload (101) is connected, the pressure in the first cylinder (1) is increased to almost carry the load (about 90 % of static weight) of the payload (101). When desired by the crane operator, a fast pressure increase can be performed to quickly lift (i.e. faster than normal crane speed) the payload (101) from the barge (103) in order to reduce risk of contact between the barge (103) deck and the payload (101) after liftoff, the pressure increase is performed by injecting gas from a fourth cylinder (14) or by connecting a fifth cylinder (24) to a second cylinder (8). The barge (103) is then moved away, and the payload (101) is ready to cross the splash zone. During the splash zone crossing phase, the IHC (100) is operating in a passive mode, with no active control of the first piston rod (3) except for equilibrium adjustments (wanted equilibrium position is pre-set) due to environmental disturbances, such as increased buoyancy and/or changing temperature. After crossing the splash zone, the stiffness of the IHC (100) is reduced by connecting a fifth cylinder (24). This is crucial to provide good resonance protection. During the lowering phase, the means for hydraulic fluid transportation (17) can be used to charge an energy source (16), adapted for power supplying the IHC (100), by utilizing the hydraulic fluid flow in the IHC (100). The equilibrium position of the first piston rod (3) is maintained by a means for gas transportation (12) that adjusts the pressure of the different compensator volumes in the cylinders. The landing phase mode is either activated based upon water depth or activated by an ROV (the ROV turns a switch on the IHC (100)). During this phase, the heave motion of the payload (101) will be close to zero, and it can safely be installed. The heave motion is partly compensated by the passive spring (i.e. a gas volume in the second cylinder (8), or a gas volume in the second cylinder (8) plus a gas volume in the fifth cylinder (24)).
The sketches or figures shown are intended to show the principles of the invention, wherein numerous variations with a number of accumulators and tanks can be utilized in order to get the same results.
Figure 1 illustrates a basic version or embodiment of an inline heave compensator (IHC (100)) with all major sub-components numbered, mainly intended for simple subsea lifts. The component description is identified in Table 1. The inline heave compensator, IHC (100), comprises a first cylinder (1) with a first connection means (5) at its upper end (5) connected to a vessel (102) or a payload (101). A second connection means (4), arranged at the lower end of the first cylinder (1), is connected to the vessel (102) or the payload (101).
Figure 2 illustrates a more sophisticated version or embodiment of an inline heave compensator (IHC (100)) with all major sub-components numbered, mainly intended for more advanced topside and subsea lifts.
The version or embodiment of the IHC (100), shown in figure 2, is fitted with a second piston rod (23) in a third cylinder (22) used for passive depth compensation, which is considered to be beneficial for small compensators.
The IHC (100) is normally rigged to a work wire coming from the vessel (102) at either the second means of connection (4), where the second means of connection (4) is facing down, or the first means of connection (5), where the first means of connection (5) is facing up. The means of connection (either 4 or 5) not connected to the vessel (102) is connected to the payload (101). If necessary or desired, any one of the connection means (4, 5) can be connected to both the vessel (102) and the payload (101). The connection means (4, 5) can be at least one of: a padeye and a clevis, but not limited only thereto.
The first cylinder (1) contains a first piston (2). A first piston rod (3) extends from the first piston (2) located within the first cylinder (1) through the lower end (4) thereof. The first cylinder (1) contains a first volume of hydraulic fluid located between the first piston (2) and the lower end (4) of the first cylinder (1). The first cylinder (1) also contains a second volume of hydraulic fluid located between the first piston (2) and the upper end (5) of the first cylinder (1). A first piston position sensor (6) may be present in the first cylinder (1). The first piston position sensor (6) can be used to directly calculate the position of at least one of: the first piston (2) and the first piston rod (3), relative to at least one of the upper and lower ends of the first cylinder (1).
The second cylinder (8) contains a second piston (9) separating a third volume of hydraulic fluid located between the lower end of the second cylinder (8) and the second piston (9), as well as a first volume of gas located between the upper end of the second cylinder (8) and the second piston (9). The gas pressure in the first gas volume in the second cylinder (8) effectively pressurizes the first hydraulic fluid volume in the first cylinder (1) via a first conduit means (7) connecting the lower sides of the first (1) and the second (8) cylinder, as well as the third hydraulic fluid volume in the second cylinder (8). A second piston position sensor (10) may be present in the second cylinder (8), as it can be used to indirectly calculate the position of at least one of: the first piston (2) and the first piston rod (3), relative to at least one of the upper and lower ends of the first cylinder (1).
The third cylinder (22) contains a third piston (20). The third cylinder (22) contains a third gas volume located between the third piston (20) and the lower end of the third cylinder (22), as well as a fourth volume of hydraulic fluid located between the third piston (20) and the upper end of the third cylinder (22). The gas pressure in the third gas volume in the third cylinder (22) effectively pressurizes the fourth hydraulic fluid volume in the third cylinder (22). The pressure in the second hydraulic fluid volume in the first cylinder (1) is not necessarily equal to the pressure of the fourth hydraulic fluid volume in the third cylinder (22), because the means for hydraulic fluid transportation (17) can transport hydraulic fluid between the two volumes and create a positive or a negative pressure deviation between them.
The other pistons (9, 20) can move at different speed(s) with respect to the first or main piston (2). The movement between the first piston (2) and/or first piston rod (3) is linked to another piston (9 or 20) by simple or appropriate mathematical relation(s) and/or equation(s).
Other than linear sensors and position sensors that are suitable for the purpose can also be used in the sensing arrangement, such as, but not limited to wire sensor(s), pressure sensor(s), temperature sensor(s), laser(s) or based on ultrasound. There can also be used suitable sensors that can measure or sense the position of the piston rod. For example, at least one pressure sensor (30, 31, 32, 33) adapted for measuring the pressure in each of the gas volumes and at least one pressure sensor (34) adapted for measuring the external pressure (i.e. the pressure of the surroundings (e.g. the sea)), and at least one sensor (35) measuring the pressure on the upper side of the first piston (2) together with at least one temperature sensor (36) adapted for measuring the surroundings temperature can be used as the sensing arrangement in order to indirectly measure the equilibrium position of the main or first piston (2) and/or the piston rod (3) in the first cylinder (1) relative to at least one of the ends of the first cylinder (1). The equilibrium position of the first piston (2) can then be calculated based on appropriate mathematical relation(s) and/or equation(s).
It is also possible to control the hydraulic fluid (17) or the gas transportation means (12) when having in mind that the net force on the payload should be constant. This can be achieved by regulating the pressure on the upper side of the first piston (2). When the pressure on the lower side of the first piston (2) increases due to gas compression, the pressure on the upper side of the first piston (2) will simultaneously increase, so that the net force will be zero.
The fourth cylinder (14) contains a second gas volume. The fourth cylinder (14) can be used as a storage tank for gas.
The fifth cylinder (24) may be present and may contain a fourth gas volume. The fifth cylinder (24) is normally used to extend the volume of gas that the second piston (9) is working against; this is done in order to lower the compression rate.
The means for hydraulic fluid transportation (17) is used to transport hydraulic fluid between the second hydraulic fluid volume in the first cylinder (1) and the fourth hydraulic fluid volume in the third cylinder (22). Hydraulic fluid is transported between the second hydraulic fluid volume in the first cylinder (1) and the means of hydraulic fluid transportation (17) via a sixth conduit means (21) connected to the upper side of the first cylinder (1). Hydraulic fluid is transported between the fourth hydraulic fluid volume in the third cylinder (22) and the means of hydraulic fluid transportation (17) via a fifth conduit means (18) connected to the upper side of the third cylinder (22).
The means for gas transportation (12) is used to transport gas between any combination of the first gas volume, the second gas volume, the third gas volume and the fourth gas volume. The means for gas transportation (12) can also be used to expel gas to the surroundings (i.e. the sea or air) from any one of: the first gas volume, the second gas volume, the third gas volume and the fourth gas volume. Gas is transported between the first gas volume in the second cylinder (8) and the means of gas transportation (12) via a second conduit means (11) connected to the upper side of the second cylinder (8). Gas is transported between the second gas volume in the fourth cylinder (14) and the means of gas transportation (12) via a third conduit means (13). Gas is transported between the third gas volume in the third cylinder (22) and the means of gas transportation (12) via a fourth conduit means (15) connected to the lower side of the third cylinder (22). Gas is transported between the fourth gas volume in the fifth cylinder (24) and the means of gas transportation (12) via a ninth conduit means (28).
Typically, the means for gas transportation (12) can be at least one pressure intensifier or at least one gas compressor driven by either hydraulics, such as e.g. a hydraulic pump (e.g. an electrically powered hydraulic pump setup), or directly by an electric motor.
The means for hydraulic fluid transportation (17) can be at least one reversible hydraulic pump driven by an electric motor.
Any one of the means for hydraulic fluid transportation (17) and the means for gas transportation (12) is powered by an energy source (16), which can be either at least one battery pack (16) integrated into the IHC (100) or an energy source (16) located aboard the vessel (102) and connected to the IHC (100) via an umbilical.
The hydraulic fluid can normally be a mineral oil or a glycol-water fluid, but not limited only thereto.
An accelerometer (29) can be integrated into the IHC (100) to measure heave motions of the IHC (100). This measurement along with measurements from at least one piston position sensor can be used to control the means for hydraulic fluid transportation (17) when it is subsea. The same signals can also be used topside (i.e. above water).
A valve (26) can be used to separate the first gas volume in the second cylinder (8) and the fourth gas volume in the fifth cylinder (24). The first gas volume in the second cylinder (8) is connected to the valve (26) via an eighth conduit means (27) connected to the upper side of the second cylinder (8). The fourth gas volume in the fifth cylinder (24) is connected to the valve (26) via a seventh conduit means (25). When the valve (26) is open, the volume of the first gas volume is increased to the size of the first gas volume plus the fourth gas volume.
A first MRU (105), short for motion reference unit, can be placed in a crane tip. The first MRU (105) can transfer its measurements to the IHC (100) either via umbilical or via wireless signals (e.g. when topside). A second MRU (104) can be placed close to the payload (101), or other payloads, to be lifted off a floating object topside, such as e.g. a barge (103). The second MRU (104) can transfer its measurements to the IHC (100) via e.g. wireless signals. The two MRU units (104, 105) allow the IHC (100) to accurately compensate for heave motions of two vessels (i.e. the barge (103) and the vessel (102) when the IHC (100) is topside). Crane hoisting speed is not disturbed as it can be effectively calculated based on the available measurements. As mentioned the MRUs (104, 105 can transfer the measurements to the IHC (100) wirelessly or via an umbilical.
At least one of the cylinders can be constituted or presented as a group of a predetermined number of cylinders. The predetermined number of cylinders can be arranged in a parallel connection in order to increase the effective volume of at least one volume of the gas and/or hydraulic fluid volumes.
Table 1

Claims (12)

1. Inline heave compensator (100) with attachment devices (4,5) for connecting an end of the compensator to a vessel (102) and another end to a payload (101), comprises a first cylinder (1) with a piston (2) and a piston rod (3), the piston (2) dividing the cylinder (1) into a first and a second hydraulic fluid filled volume, a second and a third cylinder (8, 22) with a second and a third pistons (9, 20), conduit means (7, 18, 21) to connect the volumes of the first cylinder (1) with one hydraulic fluid filled volume of the second (8) and third cylinder (22) respectively c h a r a c t e r i z e d i n t h a t the compensator incorporates at least one pump (17) enabling controlled fluid transportation between the first and third cylinders (1, 22) based on measurements received from a sensing arrangement (6) and an accelerometer (29), measuring position of the compensator, and thereby actively increasing performance of the heave compensator.
2. Inline heave compensator (100) according to claim 1, further comprising:
the accelerometer (29) integrated into the compensator (100) and adapted to measure movement of the compensator (100).
3. Inline heave compensator (100) according to claim 1 or 2, where:
the first cylinder (1) is having an upper end and a lower end;
the first attachment device (5) mounted at the upper end of the first cylinder (1) and adapted for connecting the first cylinder (1) to at least one of: the vessel (102) at sea surface and the payload (101);
the piston (2) located within the first cylinder (1) and adapted for reciprocation with respect thereto;
the piston rod (3) connected to the piston (2) and extending downwardly therefrom through the lower end of the first cylinder (1);
the second attachment device (4) adapted for securing the piston rod (3) to at least one of: the vessel (102) at the sea surface and the payload (101), and located at the lower end of the first cylinder (1);
the first volume of hydraulic fluid located between the piston (2) and the lower end of the first cylinder (1);
the second volume of hydraulic fluid located between the piston (2) and the upper end of the first cylinder (1);
the second cylinder (8) containing the second piston (9);
a third volume of hydraulic fluid located between the lower end of the second cylinder (8) and the second piston (9);
the third cylinder (22) containing the third piston (20);
a fourth volume of hydraulic fluid located between the third piston (20) and the upper end of the third cylinder (22);
the pump (17) adapted for transporting hydraulic fluid between the second volume of hydraulic fluid in the first cylinder (1) and the fourth volume of hydraulic fluid in the third cylinder (22);
wherein the hydraulic fluid is transported between the second volume of hydraulic fluid in the first cylinder (1) and the pump (17) via a sixth conduit means (21) connected to the upper side of the first cylinder (1);
wherein the hydraulic fluid is transported between the fourth volume of hydraulic fluid in the third cylinder (22) and the pump (17) via a fifth conduit means (18) connected to the upper side of the third cylinder (22);
wherein the hydraulic fluid is transported between the first volume of hydraulic fluid located at the lower side of the first cylinder (1) and the third volume of hydraulic fluid located at lower side of the second cylinder (8) via a first conduit means (7) connecting the lower sides of the first (1) and the second (8) cylinder;
a first volume of gas located between the upper end of the second cylinder (8) and the second piston (9), where the gas pressure in the first gas volume in the second cylinder (8) effectively pressurizes the first hydraulic fluid volume in the first cylinder (1) via the first conduit means (7), as well as the third hydraulic fluid volume in the second cylinder (8);
a third gas volume located between the third piston (20) and the lower end of the third cylinder (22), where the gas pressure in the third gas volume in the third cylinder (22) effectively pressurizes the fourth hydraulic fluid volume in the third cylinder (22); and
the sensing arrangement (6, (10, 19, 30 - 36) adapted for direct or indirect measuring an equilibrium position of at least one of: the piston (2) and the piston rod (3), relative to at least one of: the lower and upper ends of the first cylinder (1),
where the pump (17) is controlled based on the direct or indirect measurements from the sensing arrangement.
4. Inline heave compensator (100) according to claim 1 or 3, further comprising:
a fourth cylinder (14);
a second gas volume located in the fourth cylinder (14);
a fifth cylinder (24);
a fourth gas volume located in the fifth cylinder (24);
a means for gas transportation (12) for increasing pressure used to transport gas between any combination of: a first gas volume, the second gas volume, a third gas volume and the fourth gas volume, where the means for gas transportation (12) is adapted to expel gas to the surroundings from any of: the first gas volume, the second gas volume, the third gas volume and the fourth gas volume;
a second conduit means (11) is used to transport gas between the first gas volume in the second cylinder (8) and the means of gas transportation (12);
a third conduit means (13) is used to transport gas between the second gas volume in the fourth cylinder (14) and the means of gas transportation (12);
a fourth conduit means (15) is used to transport gas between the third gas volume in the third cylinder (22) and the means of gas transportation (12);
a ninth conduit means (28) is used to transport gas between the fourth gas volume in the fifth cylinder (24) and the means of gas transportation (12);
a valve (26) is used to separate the first gas volume in the second cylinder (8) and the fourth gas volume in the fifth cylinder (24);
an eighth conduit means (27) is used to transport gas between the first gas volume in the second cylinder (8) and the valve (26);
a seventh conduit means (25) is used to transport gas between the fourth gas volume in the fifth cylinder (24) and the valve (26).
5. Inline heave compensator (100) according to any one of claims 1-4, wherein the pressure in the second hydraulic fluid volume in the first cylinder (1) is either equal or different to the pressure of a fourth hydraulic fluid volume in the third cylinder (22), because the pump (17) is adapted to transport hydraulic fluid between the two volumes and to create a positive or negative pressure deviation between them.
6. Inline heave compensator (100) according to any one of claims 1-5, further comprising: a first MRU (105) placed in a crane tip; and
a second MRU (104) placed in the vicinity of the payload (101).
7. Inline heave compensator (100) according to any of claims 1-6, wherein the sensing arrangement (6, 10, 19) for the direct or indirect position measuring of the piston (2) is at least one of: a first piston position sensor (6) arranged in the first cylinder (1) and adapted for direct measuring the equilibrium position of the piston (2) and/or the piston rod (3); a second piston position sensor (10), in the second cylinder (8), being adapted for indirect measuring the equilibrium position of the piston (2) and/or the piston rod (3); and a third piston position sensor (19), in a third cylinder (22), being adapted for indirect measuring the equilibrium position of the piston (2) and/or the piston rod (3).
8. Inline heave compensator (100) according to any one of claims 1-7, wherein a means for gas transportation (12) is one of: at least one pressure intensifier and at least one gas compressor, being driven by one of: an electric motor and hydraulics.
9. Inline heave compensator (100) according to any one of claims 1-7, wherein the pump (17) is at least one reversible hydraulic pump being driven by an electric motor.
10. Inline heave compensator (100) according to any one of claims 1-9, further comprising an energy source (16) being at least one battery pack within the compensator (100).
11. Inline heave compensator (100) according to any one of claims 1-9, wherein an energy source (16) on the vessel (102) is connected to the compensator (100) via an umbilical.
12. Inline heave compensator (100) according to any one of claims 1-11, wherein at least one of the cylinders is constituted of a predetermined number of cylinders arranged in a parallel connection in order to increase the effective volume of at least one volume of the gas and/or hydraulic fluid volumes.
NO20160301A 2016-02-22 2016-02-22 Inline active subsea heave compensator NO343286B1 (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
NO20160301A NO343286B1 (en) 2016-02-22 2016-02-22 Inline active subsea heave compensator
MYPI2018702584A MY195788A (en) 2016-02-22 2017-02-22 Mobile Passive and Active Heave Compensator
CA3013291A CA3013291A1 (en) 2016-02-22 2017-02-22 Mobile active heave compensator
SG11201806374YA SG11201806374YA (en) 2016-02-22 2017-02-22 Mobile active heave compensator
MX2018010086A MX2018010086A (en) 2016-02-22 2017-02-22 Active mobile heave compensator for subsea environment.
AU2017222997A AU2017222997B2 (en) 2016-02-22 2017-02-22 Mobile Active Heave Compensator
EP17756897.9A EP3420177A4 (en) 2016-02-22 2017-02-22 Active mobile heave compensator for subsea environment
SG10201913227WA SG10201913227WA (en) 2016-02-22 2017-02-22 Mobile active heave compensator
PCT/NO2017/050049 WO2017146591A2 (en) 2016-02-22 2017-02-22 Mobile active heave compensator
BR112018016959-5A BR112018016959B1 (en) 2016-02-22 2017-02-22 MOBILE ACTIVE LIFTING COMPENSATOR
US16/079,038 US11111113B2 (en) 2016-02-22 2017-02-22 Mobile passive and active heave compensator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO20160301A NO343286B1 (en) 2016-02-22 2016-02-22 Inline active subsea heave compensator

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4724970A (en) * 1985-12-28 1988-02-16 Bomag-Menck Gmbh Compensating device for a crane hook
US20080251980A1 (en) * 2007-04-10 2008-10-16 Matthew Jake Ormond Depth compensated subsea passive heave compensator
NO20140672A1 (en) * 2014-05-30 2015-12-01 Safelink As Self-adjusting HIV compensator
EP2982638A1 (en) * 2014-08-08 2016-02-10 Ernst-B. Johansen AS Multi function heave compensator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4724970A (en) * 1985-12-28 1988-02-16 Bomag-Menck Gmbh Compensating device for a crane hook
US20080251980A1 (en) * 2007-04-10 2008-10-16 Matthew Jake Ormond Depth compensated subsea passive heave compensator
NO20140672A1 (en) * 2014-05-30 2015-12-01 Safelink As Self-adjusting HIV compensator
EP2982638A1 (en) * 2014-08-08 2016-02-10 Ernst-B. Johansen AS Multi function heave compensator

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Representative=s name: RIKARD MIKALSEN, STEENDAMMSWISCH 24 C, 22459