CN114940237A - Control method for offshore platform heave compensation and tensioner device thereof - Google Patents
Control method for offshore platform heave compensation and tensioner device thereof Download PDFInfo
- Publication number
- CN114940237A CN114940237A CN202210532664.7A CN202210532664A CN114940237A CN 114940237 A CN114940237 A CN 114940237A CN 202210532664 A CN202210532664 A CN 202210532664A CN 114940237 A CN114940237 A CN 114940237A
- Authority
- CN
- China
- Prior art keywords
- platform
- hydraulic cylinder
- motion
- heave compensation
- floating platform
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000007667 floating Methods 0.000 claims abstract description 90
- 238000006073 displacement reaction Methods 0.000 claims abstract description 70
- 230000008859 change Effects 0.000 claims abstract description 31
- 230000008569 process Effects 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims description 20
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000013461 design Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 229910052757 nitrogen Inorganic materials 0.000 claims description 8
- 239000003921 oil Substances 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 6
- 238000013178 mathematical model Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to a control method for heave compensation of an offshore platform and a tensioner device thereof, which comprises the following steps: giving input sea wave parameters and constructing a sea wave motion equation; step two: analyzing the motion state of the offshore floating platform; step three: calculating the displacement change of the hydraulic cylinder connecting point of the heave compensation device; step four: analyzing the movement of the heave compensation system, and calculating the pose change of the upper platform in the movement process; step five: simultaneous equations calculate the motion of the hydraulic cylinders to keep the offshore floating platform horizontal. According to the invention, by calculating the motion relation between sea waves and the floating platform, a complete active control model of the top-tensioned riser tensioner with heave compensation is established, so that the tensioner has strong anti-interference capability, high tensioning control precision, stable performance and no time delay in compensation, and the offshore floating platform is more stable.
Description
Technical Field
The application relates to the technical field of hydraulic system simulation, in particular to a control method for offshore platform heave compensation and a tensioner device thereof.
Background
Based on the current mature hydraulic simulation technology and by utilizing perfect simulation software, the performance of the hydraulic system can be known in advance by simulating the hydraulic system, the design of the hydraulic system becomes more reasonable and convenient by optimizing design parameters, the design and development period of the hydraulic system is shortened, and the development cost is reduced.
In the offshore oil and gas industry, floating vessels such as Tension Leg Platforms (TLPs) for drilling and/or production are common. TLPs are a type of platform used for drilling and production in relatively deep waters. The device is limited by the severe marine environment of floating support installation, the heave compensation device is built, the problem that sea waves influence a floating platform too much is solved through the active control tensioner, research is carried out on a hydraulic control system of the device, and the accuracy and the stability of active control are improved.
At present, China is still limited by other developed countries in the field of ocean resource development, and when a large floating platform is subjected to complex environmental actions such as wind, wave, current, surge and the like in deep sea, the large floating platform seriously affects offshore operation and brings serious potential safety hazards to workers. The passive tensioner widely applied to practical operation has poor performance stability and tension lag, and an active tensioner method for ensuring safe and efficient operation is very necessary.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention establishes a complete active control model of the top-tensioned riser tensioner with heave compensation by calculating the motion relation between sea waves and a floating platform, so that the tensioner has strong anti-interference capability and high tensioning control precision, and the offshore floating platform is more stable.
In order to achieve the purpose, the invention adopts the following solution:
a control method for offshore platform heave compensation comprising the steps of:
step 1: giving input sea wave parameters and constructing a sea wave motion equation;
establishing an absolute coordinate system taking the sea level as a reference, wherein O is any point on the sea level, O-XY represents the sea level, and O-Z represents the direction vertical to the sea level; the wave motion equation is as follows:
in the formula: Γ (x, z, t) represents the wave equation of motion; x represents the displacement coordinate of the wave on the X axis; z represents the displacement coordinate of the wave on the Z axis; t represents time; a represents the wave height of the sea wave; λ represents the wave length; θ represents the average inclination of the sea; ω represents the frequency of the sea wave;
representing the initial phase angle of the sea waves acting on the floating platform;
determining the wave motion speed according to the partial derivative of the wave motion equation to time as follows:
in the formula: v represents the wave motion speed;
representing the partial derivative of the wave motion equation to time;
step 2: analyzing the motion state of the offshore floating platform;
calculating a rolling angle change curve of the offshore floating platform under the action of sea waves and a heaving motion curve at a centroid point, calculating a motion curve of the platform under the condition of sea waves according to platform size parameters, and finally calculating to obtain a motion state of each node of the platform;
obtaining the wave motion speed calculated in the step 1, and calculating the vertical stress and the longitudinal moment of the floating platform under the action of the waves as follows:
in the formula: f represents the wave action force; t represents the theoretical moment of the wave; v represents the wave motion speed;
further, the method for acquiring the heave motion displacement and the roll motion displacement angle of the offshore floating platform is as follows:
in the formula: m represents the overall mass of the floating platform;
second derivative representing heave motion displacement:
a second derivative representing the yaw motion offset angle; j. the design is a square θ Representing the moment of inertia; b represents the platform type width;
and step 3: calculating the displacement change of the hydraulic cylinder connecting point of the heave compensation device;
acquiring the heave motion displacement and the roll motion offset angle calculated in the step (2); connecting a hydraulic cylinder of the heave compensation device with the offshore floating platform, connecting 4 hydraulic cylinders with the upper platform, and respectively determining the calculation formula of displacement change curves at the connecting points of the 4 hydraulic cylinders of the heave compensation device as follows:
in the formula: z0(t) represents the displacement change of the connecting point of the floating platform and the heave compensation hydraulic cylinder under the action of sea waves; l represents the distance between two connecting points in the longitudinal direction; h (t) represents heave motion displacement: θ (t) represents a roll motion offset angle;
and 4, step 4: analyzing the movement of the heave compensation system, and calculating the pose change of the upper platform in the movement process;
in the heave compensation motion process, analyzing the motion state of the floating platform and the motion of the compensation platform, and establishing a force balance equation and a moment balance equation; the whole system adopts the centroid theorem to list equations and establishes the inclusion liquidT for stressing pressure cylinder 1 (t)、T 2 (t)、T 3 (T) and T 4 (t) force balance equations and moment balance equations; to further determine the angular acceleration of the platform about the X-axis and Y-axis during heave compensation motion, the calculation formula for the moment of inertia of the floating platform system is as follows:
in the formula: m l Representing the rolling moment of the floating platform under the action of sea waves; i is X And I Y Representing the moment of inertia of the floating platform about the X and Y axes; b represents the platform type width; l is a radical of an alcohol p Indicating the length between the platform vertical lines;
the displacement change curve of the connecting point of the upper floating platform and the heave compensation execution hydraulic cylinder is obtained according to the following formula:
in the formula: z 1 (t) represents the displacement change curve at the connecting point of the upper floating platform and the heave compensation execution hydraulic cylinder; l 1 The distance between two connecting points in the longitudinal direction is shown; l 2 The distance between two connecting points in the transverse direction is shown; theta X (t) and θ Y (t) respectively representing the angle change of the rolling direction and the angle change of the pitching direction of the floating platform;
and 5: calculating the motion of a hydraulic cylinder by using a simultaneous equation to keep the offshore floating platform horizontal;
simultaneously solving T according to the equality relation established in the step 4 1 (t)、T 2 (t)、T 3 (T) and T 4 And (t) controlling the hydraulic cylinder to move so as to keep the floating platform horizontal.
Preferably, the control method specifically comprises:
after an electric control unit of the hydraulic system gives an input signal, the electric control system converts the signal into the magnitude of current to control the magnitude and the direction of an opening of the electro-hydraulic proportional directional valve, and further control the expansion and contraction of the hydraulic cylinder; the telescopic displacement of the hydraulic cylinder executed by the heave compensation device is collected by the displacement sensor and fed back to the input end to form closed-loop control, so that the offshore platform movement device is controlled.
Preferably, the establishing in step 4 includes the T of the hydraulic cylinder stress 1 (t)、T 2 (t)、T 3 (T) and T 4 The force balance equation and the moment balance equation of (t) are specifically as follows:
the force balance equation is as follows:
∑F＝F h -(mg+T 1 (t)+T 2 (t)+T 3 (t)+T 4 (t))＝ma
in the formula: f h The total force of the buoyancy force borne by the floating platform and the vertical force borne by the platform under the action of the waves at the mass center is represented; g represents the gravitational acceleration; t is a unit of 1 (t)、T 2 (t)、T 3 (T) and T 4 (t) represents the reaction force of the first, second, third and fourth hydraulic cylinders on the upper platform, respectively; a represents the resultant acceleration;
the moment balance equation is as follows:
in the formula: sigma x (F) Sum sigma y (F) Respectively representing the projections of the external moment borne by the floating platform on the X axis and the Y axis in the heave compensation motion process; epsilon X (t) and ε Y (t) represents the projection of the angular acceleration of the floating platform on the X-axis and Y-axis during heave compensation motion.
Preferably, the controlling of the hydraulic cylinder movement in step 5 is:
after a platform hydraulic cylinder action signal is given, because the reaction force influences the platform movement and the error of the system in the movement process of the hydraulic cylinder, the displacement of the connecting point of the upper platform and the execution hydraulic cylinder is changed; solving the reaction force T of the execution hydraulic cylinder on the upper platform in the heave compensation motion process through a simultaneous force equation; compared with the initial measurement value of the pressure sensor, the hydraulic cylinder reduces/increases the displacement in the original direction to achieve the compensation effect; inputting the obtained reaction force as a motion signal of the floating platform in the heave compensation motion process; solving the displacement change at the connecting point of the floating platform and the heave compensation device execution hydraulic cylinder in the heave compensation motion process; taking the calculated displacement variation at the connecting point of the floating platform as the input quantity of an execution hydraulic cylinder of the heave compensation device; and calculating the displacement variation quantity at the connecting point of the heave compensation upper platform and the heave compensation device execution hydraulic cylinder.
A second aspect of the invention provides a tensioner device for a control method for heave compensation of an offshore platform, the tensioner device together with an upper platform and a lower platform constituting an offshore floating platform; the lower platform is in direct contact with the sea surface, and the upper platform is kept relatively horizontal through the movement of the tensioner device;
the tensioner device includes: the device comprises a hydraulic cylinder, a tension ring, a nitrogen cylinder and a bracket;
the bottom of the cylinder body of the hydraulic cylinder is connected with the bracket through a connecting piece and used for fixing the hydraulic cylinder, one end of the hydraulic cylinder is connected with a tensioning ring through the connecting piece, the tensioning ring is fixed on the vertical pipe, and the vertical pipe is tensioned by the contraction of the hydraulic cylinder through the connecting way; the rod end of the hydraulic cylinder is connected with hydraulic oil, and the rodless end of the hydraulic cylinder is connected with a low-pressure nitrogen cylinder; the hydraulic cylinder adopts a single-action hydraulic cylinder with a piston rod pulled, a rod cavity of the hydraulic cylinder is tensioned with oil, and the rod cavity is connected with a gas-liquid energy accumulator;
the tensioner can adjust the structural style of the tensioning hydraulic cylinder and the connecting piece according to the magnitude of the top tensioning force.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the active control method of the heave compensation top-tensioned riser tensioner of the offshore platform, the motion relation between sea waves and the floating platform is calculated, the complete active control model of the heave compensation top-tensioned riser tensioner is established, the accuracy and the efficiency of a mathematical model are improved, the established mathematical model is conveniently assembled into a standard module, and the standard module and other mature hydraulic component modules form a complex hydraulic system model;
(2) the active control method of the top-tensioned riser tensioner for offshore platform heave compensation obviously enhances the anti-interference capability of the tensioner, greatly improves the tensioning control precision of the tensioner, improves the performance stability, reduces the compensation delay performance and greatly improves the stability of an offshore floating platform;
(3) the active control method of the top-tensioned riser tensioner for offshore platform heave compensation, provided by the invention, uses a heave compensation execution hydraulic cylinder device to perform feedback compensation, the whole platform is supported by 4 hydraulic cylinders, the weight of the whole working module and the platform is distributed above the 4 hydraulic cylinders, the stroke of a hydraulic cylinder piston cylinder is a tensioning stroke, the whole structure is compact, and the tensioning work is well controlled; the modularized construction can solve the problems of difficult construction of the ocean platform and the like and reduce the construction time.
Drawings
FIG. 1 is a block diagram of an active control of a top tensioned riser tensioner for an offshore platform according to an embodiment of the present invention;
FIG. 2 is a flow chart of a module model for creating a simulation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the overall structural layout of an actively controlled riser tensioner of an embodiment of the present invention;
FIG. 4 is a schematic view of an overall model of a hydraulic cylinder according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a hydraulic system according to an embodiment of the present invention;
fig. 6 is a schematic diagram of the overall modeling of the platform motion device and the heave compensation motion device according to the embodiment of the invention.
1. A centering device; 2. a support; 3. a low-pressure nitrogen cylinder; 4. an accumulator; 5. a hydraulic cylinder; 6. a tension ring; 7. a riser; 8. a hydraulic cylinder; 9. a displacement sensor; 10. an adjustable throttle valve; 11. an oil tank; 12. a liquid level thermometer; 13. an air cleaner; 14. a temperature relay; 15. an oil suction filter; 16. a stop valve; 17. rubber connecting pipes; 18. an axial plunger variable displacement pump; 19. an electric motor; 20. an overflow valve; 21. a one-way valve; 22. a pressure gauge switch; 23. a pressure gauge; 24. a normally open stop valve; 25. an accumulator; 26. a servo valve; 27. a hydraulic cylinder; 28. a displacement sensor; 29. a one-way throttle valve; 30. a balancing valve; 31. a cooler; 32. an oil return filter; 33. a heater.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the case, a complete active control model of the top-tensioned riser tensioner with heave compensation is established by calculating the motion relation between sea waves and the floating platform, so that the tensioner is high in anti-interference capability and tensioning control precision, and the offshore floating platform is more stable. FIG. 1 shows a block diagram of an active control of a top-tensioned riser tensioner for an offshore platform according to an embodiment of the present invention;
in order to prove the applicability of the invention, the active control method for the top-tensioned riser tensioner of the offshore platform is applied to an example, and fig. 2 shows a flow chart of a module model for establishing simulation in the embodiment of the invention, which specifically comprises the following steps:
s1: giving input sea wave parameters and constructing a sea wave motion equation;
establishing an absolute coordinate system taking the sea level as a reference, wherein O is any point on the sea level, O-XY represents the sea level, and O-Z represents the direction vertical to the sea level; the wave parameters comprise wave height A, wave length lambda, average inclination angle theta, frequency omega and initial phase angle of the wave
The method for acquiring the wave motion equation is as follows:
in the formula: Γ (x, z, t) represents the wave equation of motion; x represents the displacement coordinate of the wave on the X axis; z represents the displacement coordinate of the wave on the Z-axis; t represents time; a represents the wave height of the sea waves; λ represents a wave wavelength; θ represents the average inclination of the sea; ω represents the frequency of the sea wave;
representing the initial phase angle of the sea waves acting on the floating platform;
determining the wave motion speed according to the partial derivative of the wave motion equation to time as follows:
in the formula: v represents the wave motion speed;
the partial derivative of the wave equation of motion with respect to time is represented.
S2: analyzing the motion state of the offshore floating platform;
calculating a change curve of a rolling angle of the offshore floating platform under the action of sea waves and a heaving motion curve of a mass center point, calculating a motion curve of the platform under the condition of sea waves according to the size parameters of the platform, and finally calculating to obtain the motion state of each node of the platform.
Obtaining the obtained wave motion speed calculated in S1, the method for calculating the vertical stress and the longitudinal moment of the floating platform under the action of the waves is as follows:
in the formula: f represents the wave action force; t represents the theoretical moment of the wave; v represents the wave motion speed;
further, the method for acquiring the heave motion displacement and the roll motion displacement angle of the offshore floating platform is as follows:
in the formula: m represents the overall mass of the floating platform;
representing the second degree of displacement of heave motionDerivative:
a second derivative representing the yaw motion offset angle; j. the design is a square θ Representing the moment of inertia; b represents the platform type width;
s3: calculating the displacement change of the hydraulic cylinder connecting point of the heave compensation device;
acquiring the heave motion displacement and the roll motion offset angle calculated by S2; connecting a hydraulic cylinder of the heave compensation device with the offshore floating platform, wherein the integral structure adopts 4 hydraulic cylinders to be connected with the upper platform, and the calculation formula for respectively determining the displacement change curve at the connecting points of the 4 hydraulic cylinders of the heave compensation device is as follows:
in the formula: z0(t) represents the displacement change of the connecting point of the floating platform and the heave compensation hydraulic cylinder under the action of sea waves; l represents the distance between two connecting points in the longitudinal direction;
s4: analyzing the movement of the heave compensation system, and calculating the pose change of the upper platform in the movement process;
in the heave compensation motion process, analyzing the motion state of the floating platform and the motion of the compensation platform, and establishing a force balance equation and a moment balance equation; the whole system adopts the centroid theorem to list equations, and the derived force balance equation is shown as follows:
∑F＝F h -(mg+T 1 (t)+T 2 (t)+T 3 (t)+T 4 (t))＝ma
in the formula: f h The total force of the buoyancy force borne by the floating platform and the vertical force borne by the platform under the action of the waves at the mass center is represented; g represents the gravitational acceleration; t is 1 (t)、T 2 (t)、T 3 (T) and T 4 (t) representing the reaction forces of the first, second, third and fourth hydraulic cylinders on the upper platform, respectively; a represents the resultant acceleration;
the moment balance equation is as follows:
in the formula: sigma m X (F) Sum Σ m Y (F) Respectively representing the projections of the external moment borne by the floating platform on the X axis and the Y axis in the heave compensation motion process; epsilon X (t) and ε Y (t) represents the projection of the angular acceleration of the floating platform on the X-axis and Y-axis during heave compensation motion.
And further solving the angular acceleration of the platform around the X axis and the Y axis in the heave compensation motion process, wherein the calculation formula adopted for the calculation of the rotational inertia of the floating platform system is as follows:
in the formula: m is a group of l Representing the rolling moment of the floating platform under the action of sea waves; I.C. A X And I Y Representing the moment of inertia of the floating platform about the X and Y axes; b represents the platform type width; l is a radical of an alcohol p Indicating the length between the platform vertical lines;
in summary, the displacement variation curve at the connecting point of the upper floating platform and the heave compensation execution hydraulic cylinder is obtained according to the following formula:
in the formula: z 1 (t) represents the displacement change curve at the connecting point of the upper floating platform and the heave compensation execution hydraulic cylinder; l. the 1 The distance between two connecting points in the longitudinal direction is shown; l 2 The distance between two connecting points in the transverse direction is shown; theta X (t) and θ Y (t) respectively representing the angle change of the rolling direction and the angle change of the pitching direction of the floating platform;
s5: calculating the motion of a hydraulic cylinder by using a simultaneous equation to keep the offshore floating platform horizontal;
simultaneous solution T according to the equality relationship established in S4 1 (t)、T 2 (t)、T 3 (T) and T 4 (t) control of the solutionThe cylinder moves to keep the floating platform horizontal.
The control hydraulic cylinder specifically moves as follows: after a platform hydraulic cylinder action signal is given, because the reaction force influences the platform movement and the error of the system in the movement process of the hydraulic cylinder, the displacement of the connecting point of the upper platform and the execution hydraulic cylinder is changed; solving the reaction force T of the execution hydraulic cylinder on the upper platform in the heave compensation motion process through a simultaneous force equation; compared with the initial measurement value of the pressure sensor, the hydraulic cylinder reduces/increases the displacement in the original direction to achieve the compensation effect; inputting the obtained reaction force as a floating platform motion signal in the heave compensation motion process; solving the displacement change at the connecting point of the floating platform and the heave compensation device execution hydraulic cylinder in the heave compensation motion process; taking the calculated displacement variation at the connecting point of the floating platform as the input quantity of an execution hydraulic cylinder of the heave compensation device; and calculating the displacement variation quantity at the connecting point of the heave compensation upper platform and the heave compensation device execution hydraulic cylinder.
A second aspect of the invention provides a tensioner device for a control method for heave compensation of an offshore platform, the tensioner device together with an upper platform and a lower platform forming an offshore floating platform; the lower platform is in direct contact with the sea surface, and the upper platform is kept relatively horizontal through the movement of the tensioner device; fig. 6 is a schematic diagram of the overall modeling of the platform motion device and the heave compensation motion device according to the embodiment of the invention.
The tensioner device comprises: hydraulic cylinder, tension ring, nitrogen cylinder and support.
FIG. 3 is a schematic diagram of the overall structure layout of an actively controlled riser tensioner according to an embodiment of the present invention. The upper part of the tensioning support is connected with the working platform, so that the whole tensioning hydraulic cylinder is positioned at the lower part of the platform, the space of the working platform is saved, and the gravity center of the platform is lowered. The hydraulic cylinders of the tensioner system can be symmetrically used in pairs, and because of the required tension and the specification of the hydraulic cylinders, 4 hydraulic cylinders are adopted, the included angle between the hydraulic cylinder and the vertical pipe is as small as possible, the radial component force of the hydraulic rod is reduced, and the service life is prolonged. In order to facilitate control, the hydraulic cylinders are provided with sensors, the moving position direction and the moving speed of piston cylinders of the hydraulic cylinders are monitored in real time, and the complete measuring system can feed back the working condition of the tensioning system in time. The bottom of the hydraulic cylinder body is connected with the bracket through a connecting piece to fix the hydraulic cylinder, one end of the piston cylinder is connected with a tensioning ring through a connecting piece, the tensioning ring is fixed on the vertical pipe, and the vertical pipe is tensioned by the contraction of the hydraulic cylinder through the connecting way; the rod end of the hydraulic cylinder is connected with hydraulic oil, the rodless end of the hydraulic cylinder is connected with a low-pressure nitrogen cylinder, and the stability of nitrogen can keep the continuous pressure of the piston end of the hydraulic cylinder and prevent corrosion; the hydraulic cylinder adopts a single-action hydraulic cylinder with a piston rod pulled, a rod cavity of the hydraulic cylinder takes oil for tensioning, and the rod cavity is connected with a gas-liquid energy accumulator; the tensioning ring is connected to the vertical pipe in a friction tensioning mode, the tensioning force can be adjusted, maintenance is convenient, and the vertical pipe is convenient to break away when in failure.
Amesim is a complex system simulation platform in the multidisciplinary field, a simulation model is built according to the analysis result, parameters are defined, and a simulation structure is perfected. And establishing a simulation standard module in the Amesim simulation platform for joint simulation. Fig. 4 shows an integral model of the hydraulic cylinder according to the embodiment of the present invention.
According to the design principle of a hydraulic system, a hydraulic system schematic diagram of the heave compensation device is designed by combining the practical situation of the embodiment, as shown in fig. 5, the system adopts a three-position four-electrified hydraulic servo valve as a control valve of a hydraulic cylinder, the expansion speed of the hydraulic cylinder is adjusted by the opening size of the hydraulic servo valve, and the expansion of the hydraulic cylinder is adjusted by reversing, so that the heave compensation displacement adjustment of the floating platform is further realized. Meanwhile, a servo hydraulic cylinder is used as a driving rod of the hydraulic system, a displacement sensor is installed to record the expansion amount of the hydraulic cylinder, and the collected displacement signal is input to a computer stroke hydraulic cylinder for displacement closed-loop control, so that the expansion displacement control precision is improved.
The structural design and analysis of the tensioner need to establish a proper mathematical model to determine the magnitude of the top tension and design a tension hydraulic cylinder and a connecting piece. System component information characteristics are illustrated in table 1.
Table 1 is a system component information table
Utilize simulation software's standardized module, set up active control formula tensioning ware hydraulic system model, include: the hydraulic cylinder, displacement sensor, connecting piece and adjustable choke valve. The displacement sensor is connected with the hydraulic cylinder to collect displacement signals of a piston in the hydraulic cylinder, and simultaneously, the displacement sensor transmits input displacement signal parameters to the simulation control module. The simulation control module calculates output signals of all stages and transmits the output signals to the adjustable throttle valve for throttling. And optimally designing each parameter of the heave compensation execution structure.
And (5) connecting the complete simulation model built in the S5 to a hydraulic system, and carrying out parameter debugging and optimal design on the geometric parameters of the hydraulic system. Parameters specifically involved in the simulation control module are shown in table 2;
TABLE 2 parameter settings reference table
And (4) simulating to obtain a displacement curve, analyzing the curve, continuously adjusting the parameters to obtain an optimal compensation feedback effect, and optimally designing the active control structure of the tensioner.
In conclusion, the result of the active control method of the top-tensioned riser tensioner for offshore platform heave compensation proves that the active control method has good effect.
(1) According to the method, a complete active control model of the top-tensioned riser tensioner with heave compensation is established by calculating the motion relation between sea waves and a floating platform, so that the accuracy and the efficiency of a mathematical model are improved, the established mathematical model is conveniently assembled into a standard module, and the standard module and other mature hydraulic component modules form a complex hydraulic system model;
(2) the data listed in the example shows that the anti-interference capability of the tensioning device is obviously enhanced, the tensioning control precision of the tensioning device is greatly improved, the performance stability is improved, the compensation delay is reduced, and the stability of the offshore floating platform is greatly improved;
(3) the structure of the device is described in detail by the attached drawing in the example, a heave compensation execution hydraulic cylinder device is used for feedback compensation, the whole platform is supported by 4 hydraulic cylinders, the weight of the whole working module and the platform is distributed on the 4 hydraulic cylinders, the stroke of a piston cylinder of each hydraulic cylinder is a tensioning stroke, the whole structure is compact, and the tensioning work is easy; the modularized construction can solve the problems of difficult construction of ocean platforms and the like, and greatly reduces the construction time.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (5)
1. A control method for offshore platform heave compensation, characterized in that it comprises the following steps:
step 1: giving input sea wave parameters and constructing a sea wave motion equation;
establishing an absolute coordinate system taking the sea level as a reference, wherein O is any point on the sea level, O-XY represents the sea level, and O-Z represents the direction vertical to the sea level; the motion equation of the sea wave is as follows:
in the formula: Γ (x, z, t) represents the wave equation of motion; x represents the displacement coordinate of the wave on the X axis; z represents the displacement coordinate of the wave on the Z-axis; t represents time(ii) a A represents the wave height of the sea waves; λ represents a wave wavelength; θ represents the average inclination of the sea; ω represents the frequency of the sea wave;
representing the initial phase angle of the wave acting on the floating platform;
determining the wave motion speed according to the partial derivative of the wave motion equation to time as follows:
in the formula: v represents the motion speed of the sea waves;
representing the partial derivative of the wave motion equation to time;
step 2: analyzing the motion state of the offshore floating platform;
calculating a change curve of a rolling angle of the offshore floating platform under the action of sea waves and a heaving motion curve at a mass center point, calculating a motion curve of the platform under the condition of sea waves according to the size parameters of the platform, and finally calculating to obtain the motion state of each node of the platform;
obtaining the wave motion speed calculated in the step 1, and calculating the vertical stress and the longitudinal moment of the floating platform under the action of the waves as follows:
in the formula: f represents the acting force of sea waves; t represents the theoretical moment of the wave; v represents the wave motion speed;
further, the method for acquiring the heave motion displacement and the roll motion displacement angle of the offshore floating platform is as follows:
in the formula: m represents the overall mass of the floating platform;
second derivative representing heave motion displacement:
a second derivative representing the yaw motion offset angle; j. the design is a square θ Representing the moment of inertia; b represents the platform type width;
and step 3: calculating the displacement change of the hydraulic cylinder connecting point of the heave compensation device;
acquiring the heave motion displacement and the roll motion offset angle calculated in the step (2); connecting a hydraulic cylinder of the heave compensation device with the offshore floating platform, connecting 4 hydraulic cylinders with the upper platform, and respectively determining the calculation formula of displacement change curves at the connecting points of the 4 hydraulic cylinders of the heave compensation device as follows:
in the formula: z0(t) represents the displacement change of the connecting point of the floating platform and the heave compensation hydraulic cylinder under the action of sea waves; l represents the distance between two connecting points in the longitudinal direction; h (t) represents heave motion displacement: θ (t) represents a roll motion offset angle;
and 4, step 4: analyzing the movement of the heave compensation system, and calculating the pose change of the upper platform in the movement process;
in the heave compensation motion process, analyzing the motion state of the floating platform and the motion of the compensation platform, and establishing a force balance equation and a moment balance equation; the whole system adopts the centroid theorem to list equations, and establishes the T comprising the stress of the hydraulic cylinder 1 (t)、T 2 (t)、T 3 (T) and T 4 (t) force balance equations and moment balance equations; for further solving the angular acceleration of the platform around the X-axis and the Y-axis in the process of heave compensation motion, a calculation formula for the rotational inertia calculation of a floating platform system is adoptedThe formula is as follows:
in the formula: m l Representing the rolling moment of the floating platform under the action of sea waves; i is X And I Y Representing the moment of inertia of the floating platform about the X and Y axes; b represents the platform type width; l is p Indicating the length between the platform vertical lines;
the displacement change curve of the connecting point of the upper floating platform and the heave compensation execution hydraulic cylinder is obtained according to the following formula:
in the formula: z is a linear or branched member 1 (t) represents the displacement change curve at the connecting point of the upper floating platform and the heave compensation execution hydraulic cylinder; l 1 The distance between two connecting points in the longitudinal direction is shown; l 2 The distance between two connecting points in the transverse direction is shown; theta X (t) and θ Y (t) respectively representing the angle change of the rolling direction and the angle change of the pitching direction of the floating platform;
and 5: calculating the motion of a hydraulic cylinder by using a simultaneous equation to keep the offshore floating platform horizontal;
simultaneously solving T according to the equality relation established in the step 4 1 (t)、T 2 (t)、T 3 (T) and T 4 And (t) controlling the hydraulic cylinder to move so as to keep the floating platform horizontal.
2. The control method for offshore platform heave compensation according to claim 1, characterized in that the control method is in particular:
after an electric control unit of the hydraulic system gives an input signal, the electric control system converts the signal into the current magnitude to control the magnitude and the direction of the opening of the electro-hydraulic proportional directional valve so as to control the extension and retraction of the hydraulic cylinder; the telescopic displacement of the hydraulic cylinder executed by the heave compensation device is collected by the displacement sensor and fed back to the input end to form closed-loop control, so that the offshore platform movement device is controlled.
3. Control method for offshore platform heave compensation according to claim 1, characterised in that the establishment in step 4 comprises a hydraulic cylinder stressed T 1 (t)、T 2 (t)、T 3 (T) and T 4 The force balance equation and the moment balance equation of (t) are specifically as follows:
the force balance equation is as follows:
∑F＝F h -(mg+T 1 (t)+T 2 (t)+T 3 (t)+T 4 (t))＝ma
in the formula: f h The total force of the buoyancy force borne by the floating platform and the vertical force borne by the platform under the action of the waves at the mass center is represented; g represents the gravitational acceleration; t is 1 (t)、T 2 (t)、T 3 (T) and T 4 (t) represents the reaction force of the first, second, third and fourth hydraulic cylinders on the upper platform, respectively; a represents the resultant acceleration;
the moment balance equation is as follows:
in the formula: sigma x (F) Sum sigma y (F) Respectively representing the projections of the external moment borne by the floating platform on an X axis and a Y axis in the heave compensation motion process; epsilon X (t) and ε Y (t) represents the projection of the angular acceleration of the floating platform on the X-axis and Y-axis during heave compensation motion.
4. The control method for offshore platform heave compensation according to claim 1, wherein the controlling hydraulic cylinder movement in step 5 is:
after a platform hydraulic cylinder action signal is given, because the reaction force influences the platform movement and the error of the system in the movement process of the hydraulic cylinder, the displacement of the connecting point of the upper platform and the execution hydraulic cylinder is changed; solving the reaction force T of the execution hydraulic cylinder on the upper platform in the heave compensation motion process through a simultaneous force equation; comparing the displacement with the initial measurement value of the pressure sensor, so that the hydraulic cylinder reduces/increases the displacement in the original direction to achieve the compensation effect; inputting the obtained reaction force as a floating platform motion signal in the heave compensation motion process; solving the displacement change at the connecting point of the floating platform and the heave compensation device execution hydraulic cylinder in the heave compensation motion process; taking the calculated displacement variation at the connecting point of the floating platform as the input quantity of an execution hydraulic cylinder of the heave compensation device; and calculating the displacement variation quantity at the connecting point of the heave compensation upper platform and the heave compensation device execution hydraulic cylinder.
5. Tensioner device for implementing a control method for offshore platform heave compensation according to any of claims 1 to 4, characterized in that it constitutes, together with the upper and lower platforms, an offshore floating platform; the lower platform is in direct contact with the sea surface, and the upper platform is kept relatively horizontal through the movement of the tensioner device;
the tensioner device includes: the device comprises a hydraulic cylinder, a tension ring, a nitrogen cylinder and a bracket;
the bottom of the cylinder body of the hydraulic cylinder is connected with the support through a connecting piece and used for fixing the hydraulic cylinder, the first end of the hydraulic cylinder is connected with the tensioning ring through the connecting piece, and the tensioning ring is fixed on the vertical pipe, so that the vertical pipe is tensioned by contraction of the hydraulic cylinder; the rod end of the hydraulic cylinder is connected with hydraulic oil, and the rodless end of the hydraulic cylinder is connected with a low-pressure nitrogen cylinder; the hydraulic cylinder adopts a single-action hydraulic cylinder with a piston rod pulled, a rod cavity of the hydraulic cylinder is tensioned with oil, and the rod cavity is connected with a gas-liquid energy accumulator;
the tensioner can adjust the structural style of the tensioning hydraulic cylinder and the connecting piece according to the magnitude of the top tensioning force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210532664.7A CN114940237B (en) | 2022-05-10 | 2022-05-10 | Control method for heave compensation of offshore platform and tensioner device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210532664.7A CN114940237B (en) | 2022-05-10 | 2022-05-10 | Control method for heave compensation of offshore platform and tensioner device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114940237A true CN114940237A (en) | 2022-08-26 |
| CN114940237B CN114940237B (en) | 2024-06-21 |
Family
ID=82907744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210532664.7A Active CN114940237B (en) | 2022-05-10 | 2022-05-10 | Control method for heave compensation of offshore platform and tensioner device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114940237B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100050917A1 (en) * | 2006-06-01 | 2010-03-04 | Von Der Ohe Christian | System for Active Heave Compensation and Use Thereof |
| CN105966559A (en) * | 2016-06-07 | 2016-09-28 | 江苏科技大学 | Landing device and method with wave compensation function |
| CN107207221A (en) * | 2015-12-22 | 2017-09-26 | 浙江大学 | Utilize the ocean platform crane heave compensation control system and method for video ranging |
| CN108045499A (en) * | 2017-05-10 | 2018-05-18 | 哈尔滨工程大学 | A kind of wave Active Compensation system of hybrid mechanism |
| CN109299549A (en) * | 2018-09-28 | 2019-02-01 | 西南石油大学 | A kind of friction mechanical analyzing method of the passive type deep-sea heave compensator for ocean platform drilling well |
-
2022
- 2022-05-10 CN CN202210532664.7A patent/CN114940237B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100050917A1 (en) * | 2006-06-01 | 2010-03-04 | Von Der Ohe Christian | System for Active Heave Compensation and Use Thereof |
| CN107207221A (en) * | 2015-12-22 | 2017-09-26 | 浙江大学 | Utilize the ocean platform crane heave compensation control system and method for video ranging |
| CN105966559A (en) * | 2016-06-07 | 2016-09-28 | 江苏科技大学 | Landing device and method with wave compensation function |
| CN108045499A (en) * | 2017-05-10 | 2018-05-18 | 哈尔滨工程大学 | A kind of wave Active Compensation system of hybrid mechanism |
| CN109299549A (en) * | 2018-09-28 | 2019-02-01 | 西南石油大学 | A kind of friction mechanical analyzing method of the passive type deep-sea heave compensator for ocean platform drilling well |
Non-Patent Citations (2)
| Title |
|---|
| 姜浩;刘衍聪;张彦廷;刘振东;: "钻柱升沉补偿试验台控制***设计", 石油机械, no. 10, 10 October 2011 (2011-10-10) * |
| 孙丽萍 等: "计及平台运动响应谱的顶部张紧立管稳定性曲线研究", 哈尔滨工程大学学报, 31 January 2016 (2016-01-31) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114940237B (en) | 2024-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102140917A (en) | Heave compensation simulation test device for deep-sea mining | |
| CN105621275A (en) | Crane device with three-degree-of-freedom active heave compensation function and compensation method | |
| CN105253264B (en) | Control method of sea wave compensation device of deepwater semi-submersible drilling platform | |
| CN113928603B (en) | Six-degree-of-freedom space microgravity simulation device and control method | |
| CN110361150B (en) | Active-disturbance-rejection control method for six-degree-of-freedom electro-hydraulic vibration table | |
| CN113465859B (en) | Interference force compensation method of six-degree-of-freedom electro-hydraulic vibration table | |
| CN107738996A (en) | A kind of compensation device for widening floating crane application and compensation method | |
| CN108279661B (en) | A kind of adjustment method of six-degree of freedom displacement compensating for variations platform | |
| CN103499487A (en) | Complex load tester | |
| CN109869177B (en) | Electro-hydraulic servo valve control hydraulic frame moving system and displacement control method thereof | |
| CN110220661B (en) | Active-disturbance-rejection control method for two-degree-of-freedom electro-hydraulic vibration table | |
| CN115290289B (en) | Optimization method for improving control precision of large-incidence-angle tail support test system | |
| CN109029210A (en) | Floating ocean platform measurement of air gap system and method | |
| CN102091933A (en) | Ship block assembly quick alignment device and method | |
| CN114735140B (en) | Method, equipment and medium for compensating disturbance speed of wind power pile boarding trestle | |
| CN104959998B (en) | Balancing device allowing big arm supporting force of mechanical arm to be adjusted and parameter optimizing design method thereof | |
| CN114940237B (en) | Control method for heave compensation of offshore platform and tensioner device thereof | |
| CN109914496B (en) | Method capable of simulating rigidity weakening of self-elevating platform pile foundation and pile leg | |
| CN115184059B (en) | Winch type heave compensation experiment table based on four-quadrant motor and working method thereof | |
| US11542758B1 (en) | Linkage test apparatus for deepwater drilling riser and hang-off system | |
| CN111504599B (en) | Floating support installation test model and method based on T-shaped barge and rapid load transfer | |
| CN110889245A (en) | Fluid-solid coupling seismic response analysis method for tower column structure coupling system of hydraulic ship lift | |
| CN110440965A (en) | A kind of on-line measurement system and method for floatation type energy by ocean current rack load | |
| CN107795283A (en) | Derrick installation method | |
| CN203534894U (en) | Complex load testing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |