CN114940237B - Control method for heave compensation of offshore platform and tensioner device thereof - Google Patents
Control method for heave compensation of offshore platform and tensioner device thereof Download PDFInfo
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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: setting 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 motion of the heave compensation system, and calculating the pose change of the upper platform in the motion process; step five: the simultaneous equations calculate the motion of the hydraulic cylinders to keep the offshore floating platform level. According to the invention, the 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 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 heave compensation of an offshore platform and a tensioner device thereof.
Background
Based on the mature hydraulic simulation technology at present and by using perfect simulation software, the performance of the hydraulic system is beneficial to knowing in advance through simulation of the hydraulic system, and the design of the hydraulic system becomes more reasonable and convenient through optimizing design parameters, so that the design development period of the hydraulic system is shortened, and the development cost is reduced.
Floating vessels such as Tension Leg Platforms (TLPs) for drilling and/or production are common in the offshore oil and gas industry. A TLP is a platform for drilling and production in relatively deep water. The hydraulic control system is limited by the severe marine environment of floating installation, a heave compensation device is built, the problem that the influence of sea waves on a floating platform is too large is solved through an active control tensioner, the hydraulic control system of the device is researched, and the accuracy and stability of active control are improved.
When the large floating platform is subjected to complex environments such as wind, wave, current, surge and the like in the deep sea, the large floating platform has serious influence on offshore operation and has serious potential safety hazard to staff. The active tensioner method is widely applied to passive tensioners in actual operation, and has poor performance stability and tensioning hysteresis, so that the active tensioner method for ensuring safe and efficient operation is very necessary.
Disclosure of Invention
In order to overcome the defects in 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 the 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 above object, the solution adopted by the present invention is:
A control method for heave compensation of an offshore platform, comprising the steps of:
step 1: setting 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 perpendicular to the sea level; the sea wave motion equation is as follows:
Wherein: Γ (x, z, t) represents the sea 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 wave height of sea wave; lambda represents the wave length; θ represents the average dip angle of the ocean wave; ω represents the frequency of the ocean wave; indicating the initial phase angle of the sea wave acting on the floating platform;
and determining the sea wave movement speed according to the partial derivative of the sea wave movement equation with respect to time, wherein the sea wave movement speed is as follows:
Wherein: v represents the sea wave movement speed; Representing the partial derivative of the sea wave equation of motion with respect to time;
Step 2: analyzing the motion state of the offshore floating platform;
Calculating a roll angle change curve of the offshore floating platform under the action of sea waves and a heave motion curve at a centroid point, calculating a motion curve of the platform under the condition of the sea waves according to the size parameters of the platform, and finally calculating to obtain the motion state of each node of the platform;
The method for calculating the vertical stress and the longitudinal moment of the floating platform under the action of the sea wave is as follows when the sea wave movement speed calculated in the step 1 is obtained:
Wherein: f represents the wave acting force; t represents the theoretical moment of the wave; v represents the sea wave movement speed;
Further, the heave motion displacement and roll motion offset angle of the offshore floating platform are obtained as follows:
wherein: m represents the whole mass of the floating platform; the second derivative representing heave motion displacement: /(I) A second derivative representing the roll motion offset angle; j θ denotes moment of inertia; b represents a platform type width;
Step 3: calculating the displacement change of the hydraulic cylinder connecting point of the heave compensation device;
Acquiring heave motion displacement and roll motion offset angles calculated in the step 2; the hydraulic cylinders of the heave compensation device are connected with the offshore floating platform, 4 hydraulic cylinders are connected with the upper platform, and the calculation formulas for respectively determining displacement change curves obtained at the connection points of the 4 hydraulic cylinders of the heave compensation device are as follows:
Wherein: z0 (t) represents the displacement change of the connection point of the floating platform and the heave compensation hydraulic cylinder under the action of sea waves; l represents the distance between two longitudinal connecting points; h (t) represents heave motion displacement: θ (t) represents the roll motion offset angle;
Step 4: analyzing the motion of the heave compensation system, and calculating the pose change of the upper platform in the motion process;
during the heave compensation movement process, the motion state of the floating platform and the motion of the compensation platform are analyzed, and a force balance equation and a moment balance equation are established; the whole system adopts the centroid theorem to list equations, and establishes a force balance equation and a moment balance equation comprising T 1(t)、T2(t)、T3 (T) and T 4 (T) of the stress of the hydraulic cylinder; in order to further calculate the angular acceleration of the platform around the X axis and the Y axis in the heave compensation motion process, the calculation formula adopted for calculating the rotational inertia of the floating platform system is as follows:
Wherein: m l represents the rolling moment of the floating platform under the action of sea waves; i X and I Y represent the moment of inertia of the floating platform to the X and Y axes; b represents a platform type width; l p represents the platform catenary length;
the displacement change curve at the connection point of the upper floating platform and the heave compensation execution hydraulic cylinder is obtained according to the following formula:
wherein: z 1 (t) represents a displacement change curve at the connection point of the upper floating platform and the heave compensation execution hydraulic cylinder; l 1 denotes the distance between the two longitudinal connection points; l 2 denotes the distance between the two lateral connection points; θ X (t) and θ Y (t) represent a floating platform roll direction angle change and a pitch direction angle change, respectively;
step 5: the simultaneous equation calculates the movement of the hydraulic cylinder to keep the offshore floating platform horizontal;
And (3) solving the equation relation established in the step (4) simultaneously to obtain the T 1(t)、T2(t)、T3 (T) and the T 4 (T), and controlling the hydraulic cylinders to move so as to keep the floating platform horizontal.
Preferably, the control method specifically includes:
after an input signal is given to an electric control unit of the hydraulic system, the electric control system converts the signal into current to control the opening size and direction of the electro-hydraulic proportional directional valve, and then the expansion and contraction of the hydraulic cylinder are controlled; the hydraulic cylinder telescopic displacement is fed back to the input end by means of the displacement sensor acquisition heave compensation device, closed-loop control is formed, and further the offshore platform movement device is controlled.
Preferably, the establishing the force balance equation and the moment balance equation in the step 4, including the force T 1(t)、T2(t)、T3 (T) and the force T 4 (T) of the hydraulic cylinder, specifically includes:
the force balance equation is as follows:
∑F＝Fh-(mg+T1(t)+T2(t)+T3(t)+T4(t))＝ma
Wherein: f h represents the resultant force of the vertical force of the floating platform at the centroid under the action of the buoyancy and waves; g represents gravitational acceleration; t 1(t)、T2(t)、T3 (T) and T 4 (T) represent the reaction forces of the first, second, third and fourth hydraulic cylinders, respectively, to the upper platform; a represents resultant acceleration;
The moment balance equation is as follows:
Wherein: Σm x (F) and Σm y (F) represent projections of external moments applied to the floating platform on the X axis and the Y axis respectively during heave compensation motion; epsilon X (t) and epsilon Y (t) represent projections of the angular acceleration of the floating platform on the X-axis and Y-axis during heave compensation motions.
Preferably, the controlling hydraulic cylinder movement in the step 5 is:
after the action signal of the hydraulic cylinder of the platform is given, the displacement at the connection point of the upper platform and the execution hydraulic cylinder changes because of the influence of the reaction force on the movement of the platform and the error of the system in the movement process of the hydraulic cylinder; solving a reaction force T of the hydraulic cylinder on the upper platform in the heave compensation motion process through a simultaneous force equation; comparing with the initial measurement value of the pressure sensor, so that the displacement of the hydraulic cylinder in the original direction is reduced/increased, and the compensation effect is achieved; inputting the obtained reaction force as a motion signal of the floating platform in the heave compensation motion process; solving displacement change of the connection point of the hydraulic cylinder of the floating platform and the heave compensation device in the heave compensation motion process; taking the calculated displacement variation at the connecting point of the floating platform as the input quantity of the hydraulic cylinder executed by the heave compensation device; and calculating the displacement variation of the connection point of the heave compensation upper platform and the hydraulic cylinder of the heave compensation device.
A second aspect of the present invention provides a tensioner apparatus for a control method of heave compensation of an offshore platform, the tensioner apparatus 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;
The tensioner device includes: the device comprises a hydraulic cylinder, a tensioning 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 the tensioning ring through the connecting piece, the tensioning ring is fixed on the vertical pipe, and the shrinkage of the hydraulic cylinder is realized through the connecting mode to tension the vertical pipe; the rod end of the hydraulic cylinder is connected with hydraulic oil, and the rod end of the hydraulic cylinder is connected with a low-pressure nitrogen cylinder; the hydraulic cylinder adopts a single-acting hydraulic cylinder with a piston rod pulled, a rod cavity of the hydraulic cylinder is used for tensioning oil inlet, and the rod cavity is connected with a gas-liquid 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 for the top-tensioned riser tensioner for the heave compensation of the offshore platform, disclosed by the invention, a complete active control model of the top-tensioned riser tensioner with the heave compensation is established by calculating the motion relation between sea waves and a floating platform, the accuracy and efficiency of a mathematical model are improved, the established mathematical model is also very conveniently assembled into a standard module, and the standard module and other mature hydraulic element modules form a complex hydraulic system model;
(2) The active control method of the top tension type riser tensioner for offshore platform heave compensation provided by the invention obviously enhances the anti-interference capability of tensioner tensioning, greatly improves the tensioner tensioning control precision, improves the performance stability, reduces the compensation delay and greatly improves the stability of an offshore floating platform;
(3) According to the active control method for the top tension type riser tensioner for the offshore platform heave compensation, disclosed by the invention, the heave compensation execution hydraulic cylinder device is used for carrying out 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 the piston cylinder of the hydraulic cylinder is the 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 active control of a top tension riser tensioner for an offshore platform in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of a module model for establishing a simulation in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of the overall structural layout of an actively controlled riser tensioner according to an embodiment of the present invention;
FIG. 4 is 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 overall modeling of a platform motion device and a heave compensation motion device according to an embodiment of the invention.
1. A centering device; 2. a bracket; 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. a rubber connecting pipe; 18. an axial plunger variable displacement pump; 19. a motor; 20. an overflow valve; 21. a one-way valve; 22. a pressure gauge switch; 23. a pressure gauge; 24. a normally open shut-off 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. According to the case, the complete active control model of the top-tensioned riser tensioner with heave compensation is built by calculating the motion relation between sea waves and the floating platform, so that the tensioner is high in anti-interference capability and high in tensioning control precision, and the offshore floating platform is stable. FIG. 1 is a block diagram illustrating active control of a top tension riser tensioner for an offshore platform according to an embodiment of the present invention;
the embodiment of the invention provides an active control method for a top-tensioned riser tensioner of an offshore platform, which is applied to an example in order to prove the applicability of the invention, and is shown in fig. 2 as a module model flow chart for establishing simulation of the embodiment of the invention, and specifically comprises the following steps:
s1: setting 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 perpendicular to the sea level; the wave parameters include wave height A, wavelength lambda, average dip angle theta, frequency omega and initial phase angle of the wave The sea wave equation of motion acquisition method is as follows:
Wherein: Γ (x, z, t) represents the sea 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 wave height of sea wave; lambda represents the wave length; θ represents the average dip angle of the ocean wave; ω represents the frequency of the ocean wave; indicating the initial phase angle of the sea wave acting on the floating platform;
and determining the sea wave movement speed according to the partial derivative of the sea wave movement equation with respect to time, wherein the sea wave movement speed is as follows:
Wherein: v represents the sea wave movement speed; representing the partial derivative of the wave motion equation with respect to time.
S2: analyzing the motion state of the offshore floating platform;
And calculating a roll angle change curve of the offshore floating platform under the action of sea waves and a heave motion curve at a centroid point, and calculating the motion curve of the platform under the condition of the sea waves according to the size parameters of the platform, so as to finally calculate and obtain the motion state of each node of the platform.
The calculation method for the vertical stress and the longitudinal moment of the floating platform under the action of the sea wave is as follows when the sea wave movement speed calculated in the step S1 is obtained:
Wherein: f represents the wave acting force; t represents the theoretical moment of the wave; v represents the sea wave movement speed;
Further, the heave motion displacement and roll motion offset angle of the offshore floating platform are obtained as follows:
wherein: m represents the whole mass of the floating platform; the second derivative representing heave motion displacement: /(I) A second derivative representing the roll motion offset angle; j θ denotes moment of inertia; b represents a platform type width;
s3: calculating the displacement change of the hydraulic cylinder connecting point of the heave compensation device;
acquiring heave motion displacement and roll motion offset angles obtained by S2 calculation; the hydraulic cylinders of the heave compensation device are connected with the offshore floating platform, the whole structure is connected with the upper platform by adopting 4 hydraulic cylinders, and the calculation formulas for respectively determining displacement change curves at the connection points of the 4 hydraulic cylinders of the heave compensation device are as follows:
Wherein: z0 (t) represents the displacement change of the connection point of the floating platform and the heave compensation hydraulic cylinder under the action of sea waves; l represents the distance between two longitudinal connecting points;
S4: analyzing the motion of the heave compensation system, and calculating the pose change of the upper platform in the motion process;
during the heave compensation movement process, the motion state of the floating platform and the motion of the compensation platform are analyzed, and a force balance equation and a moment balance equation are established; the whole system adopts the centroid theorem to list the equation, and the deduced force balance equation is as follows:
∑F＝Fh-(mg+T1(t)+T2(t)+T3(t)+T4(t))＝ma
wherein: f h represents the resultant force of the vertical force of the floating platform at the centroid under the action of the buoyancy and waves; g represents gravitational acceleration; t 1(t)、T2(t)、T3 (T) and T 4 (T) represent reaction forces of the first, second, third and fourth hydraulic cylinders to the upper platform, respectively; a represents resultant acceleration;
the moment balance equation is shown below:
Wherein: sigma m X (F) and Sigma m Y (F) respectively represent projections of external moments on an X axis and a Y axis respectively, which are born by the floating platform in the heave compensation motion process; epsilon X (t) and epsilon Y (t) represent projections of the angular acceleration of the floating platform on the X-axis and Y-axis during heave compensation motions.
Further, the angular acceleration of the platform around the X axis and the Y axis in the heave compensation motion process is obtained, and a calculation formula adopted for calculating the rotational inertia of the floating platform system is shown as follows:
Wherein: m l represents the rolling moment of the floating platform under the action of sea waves; i X and I Y represent the moment of inertia of the floating platform to the X and Y axes; b represents a platform type width; l p represents the platform catenary length;
in summary, the displacement profile at the connection point of the upper floating platform and the heave compensation actuator is obtained according to the following formula:
wherein: z 1 (t) represents a displacement change curve at the connection point of the upper floating platform and the heave compensation execution hydraulic cylinder; l 1 denotes the distance between the two longitudinal connection points; l 2 denotes the distance between the two lateral connection points; θ X (t) and θ Y (t) represent a floating platform roll direction angle change and a pitch direction angle change, respectively;
s5: the simultaneous equation calculates the movement of the hydraulic cylinder to keep the offshore floating platform horizontal;
And solving the equation relation established according to the step S4 simultaneously to obtain the T 1(t)、T2(t)、T3 (T) and the T 4 (T), and controlling the hydraulic cylinders to move so as to keep the floating platform horizontal.
The control of the hydraulic cylinder motion is specifically as follows: after the action signal of the hydraulic cylinder of the platform is given, the displacement at the connection point of the upper platform and the execution hydraulic cylinder changes because of the influence of the reaction force on the movement of the platform and the error of the system in the movement process of the hydraulic cylinder; solving a reaction force T of the hydraulic cylinder on the upper platform in the heave compensation motion process through a simultaneous force equation; comparing with the initial measurement value of the pressure sensor, so that the displacement of the hydraulic cylinder in the original direction is reduced/increased, and the compensation effect is achieved; inputting the obtained reaction force as a motion signal of the floating platform in the heave compensation motion process; solving displacement change of the connection point of the hydraulic cylinder of the floating platform and the heave compensation device in the heave compensation motion process; taking the calculated displacement variation at the connecting point of the floating platform as the input quantity of the hydraulic cylinder executed by the heave compensation device; and calculating the displacement variation of the connection point of the heave compensation upper platform and the hydraulic cylinder of the heave compensation device.
A second aspect of the present invention provides a tensioner apparatus for a control method of heave compensation of an offshore platform, the tensioner apparatus 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 overall modeling of a platform motion device and a heave compensation motion device according to an embodiment of the invention.
The tensioner device includes: the device comprises a hydraulic cylinder, a tensioning ring, a nitrogen cylinder and a bracket.
FIG. 3 is a schematic diagram of the overall structural 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 tensioner system hydraulic cylinders can be symmetrically used in pairs, 4 hydraulic cylinders are adopted here due to the required tension and the specifications of the hydraulic cylinders, the included angle between the hydraulic cylinders 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 movement position direction and speed of the piston cylinders of the hydraulic cylinders are monitored in real time, and the complete measuring system can timely feed back the working condition of the tensioning system. 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 the tensioning ring through the connecting piece, the tensioning ring is fixed on the vertical pipe, and the shrinkage of the hydraulic cylinder is realized to tension the vertical pipe through the connecting mode; the rod end of the hydraulic cylinder is connected with hydraulic oil, the rod 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-acting hydraulic cylinder with a piston rod pulled, a rod cavity of the hydraulic cylinder is used for tensioning oil inlet, and the rod cavity is connected with a gas-liquid accumulator; the tensioning ring is connected to the vertical pipe in a friction tensioning mode, the tensioning force can be adjusted, the maintenance is convenient, and the vertical pipe is failed and is convenient to separate.
Amesim is a complex system simulation platform in the multidisciplinary field, builds a simulation model according to the analysis result, defines parameters, and perfects a simulation structure. And establishing a simulation standard module in the Amesim simulation platform to perform joint simulation. Fig. 4 shows an overall hydraulic cylinder model according to an embodiment of the present invention.
According to the design principle of the hydraulic system, the hydraulic system schematic diagram of the heave compensation device is designed in combination with the practical situation of the example, as shown in fig. 5, the system adopts a three-position four-way electrohydraulic servo valve as a control valve of a hydraulic cylinder, the expansion speed of the hydraulic cylinder is regulated through the opening size of the hydraulic servo valve, and the expansion of the hydraulic cylinder is regulated through reversing, so that the heave compensation displacement adjustment of the floating platform is further realized. Meanwhile, a servo hydraulic cylinder is used as a hydraulic system driving rod, a displacement sensor is arranged to record the expansion and contraction amount of the hydraulic cylinder, an acquired displacement signal is input into a computer stroke hydraulic cylinder for displacement closed-loop control, the expansion and contraction displacement control precision is improved, the response speed of the adopted hydraulic control system is required to be quick due to the randomness of sea wave change, and the defect that a constant-pressure variable system is slow in response can be effectively overcome by adding an energy accumulator on a main oil way.
And (3) structural design and analysis of the tensioner need to establish a proper mathematical model to determine the top tension, and design a tensioning hydraulic cylinder and a connecting piece. The system element information features are illustrated in table 1.
Table 1 is a system element information table
Building an active control type tensioner hydraulic system model by using a standardized module of simulation software, wherein the method comprises the following steps of: 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 meanwhile, 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 executing structure.
And (5) connecting the constructed complete simulation model to a hydraulic system, and carrying out parameter debugging and optimal design on geometric parameters of the simulation model. Parameters specifically related in the simulation control module are shown in table 2;
Table 2 parameter setting reference table
And (3) obtaining a displacement curve through simulation, analyzing the curve, continuously adjusting the parameters to obtain an optimal compensation feedback effect, and optimally designing an active control structure of the tensioner.
In summary, the results of the active control method of the top tension riser tensioner for heave compensation of the offshore platform prove to have good effects.
(1) According to the method provided by the application, the complete active control model of the top-tensioned riser tensioner with heave compensation is built by calculating the motion relation between sea waves and the floating platform, the accuracy and efficiency of the mathematical model are improved, the built mathematical model is also very conveniently assembled into a standard module, and the standard module and other mature hydraulic element modules form a complex hydraulic system model;
(2) The data listed in this example show that the anti-interference capability of the tensioner tensioning is significantly enhanced, the tensioner tensioning control precision 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 drawings in the example illustrate the structure of the device in detail, the heave compensation is used for executing the hydraulic cylinder device to carry out feedback compensation, the whole platform is supported by 4 hydraulic cylinders, the whole working module and the weight of the platform are distributed on the 4 hydraulic cylinders, the stroke of the piston cylinder of the hydraulic cylinder is the tensioning stroke, the whole structure is compact, and the tensioning work is easy to implement; the modularized construction can solve the problems of difficult construction of ocean platforms and the like, and greatly reduces the construction time.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (5)
1. A control method for heave compensation of an offshore platform, characterized in that it comprises the steps of:
step 1: setting 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 perpendicular to the sea level; the sea wave motion equation is as follows:
Wherein: Γ (x, z, t) represents the sea 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 wave height of sea wave; lambda represents the wave length; θ represents the average dip angle of the ocean wave; ω represents the frequency of the ocean wave; indicating the initial phase angle of the sea wave acting on the floating platform;
and determining the sea wave movement speed according to the partial derivative of the sea wave movement equation with respect to time, wherein the sea wave movement speed is as follows:
Wherein: v represents the sea wave movement speed; Representing the partial derivative of the sea wave equation of motion with respect to time;
Step 2: analyzing the motion state of the offshore floating platform;
Calculating a roll angle change curve of the offshore floating platform under the action of sea waves and a heave motion curve at a centroid point, calculating a motion curve of the platform under the condition of the sea waves according to the size parameters of the platform, and finally calculating to obtain the motion state of each node of the platform;
The method for calculating the vertical stress and the longitudinal moment of the floating platform under the action of the sea wave is as follows when the sea wave movement speed calculated in the step 1 is obtained:
Wherein: f represents the wave acting force; t represents the theoretical moment of the wave; v represents the sea wave movement speed;
Further, the heave motion displacement and roll motion offset angle of the offshore floating platform are obtained as follows:
wherein: m represents the whole mass of the floating platform; the second derivative representing heave motion displacement: /(I) A second derivative representing the roll motion offset angle; j θ denotes moment of inertia; b represents a platform type width;
Step 3: calculating the displacement change of the hydraulic cylinder connecting point of the heave compensation device;
Acquiring heave motion displacement and roll motion offset angles calculated in the step 2; the hydraulic cylinders of the heave compensation device are connected with the offshore floating platform, 4 hydraulic cylinders are connected with the upper platform, and the calculation formulas for respectively determining displacement change curves obtained at the connection points of the 4 hydraulic cylinders of the heave compensation device are as follows:
Wherein: z0 (t) represents the displacement change of the connection point of the floating platform and the heave compensation hydraulic cylinder under the action of sea waves; l represents the distance between two longitudinal connecting points; h (t) represents heave motion displacement: θ (t) represents the roll motion offset angle;
Step 4: analyzing the motion of the heave compensation system, and calculating the pose change of the upper platform in the motion process;
during the heave compensation movement process, the motion state of the floating platform and the motion of the compensation platform are analyzed, and a force balance equation and a moment balance equation are established; the whole system adopts the centroid theorem to list equations, and establishes a force balance equation and a moment balance equation comprising T 1(t)、T2(t)、T3 (T) and T 4 (T) of the stress of the hydraulic cylinder; in order to further calculate the angular acceleration of the platform around the X axis and the Y axis in the heave compensation motion process, the calculation formula adopted for calculating the rotational inertia of the floating platform system is as follows:
Wherein: m l represents the rolling moment of the floating platform under the action of sea waves; i X and I Y represent the moment of inertia of the floating platform to the X and Y axes; b represents a platform type width; l p represents the platform catenary length;
the displacement change curve at the connection point of the upper floating platform and the heave compensation execution hydraulic cylinder is obtained according to the following formula:
wherein: z 1 (t) represents a displacement change curve at the connection point of the upper floating platform and the heave compensation execution hydraulic cylinder; l 1 denotes the distance between the two longitudinal connection points; l 2 denotes the distance between the two lateral connection points; θ X (t) and θ Y (t) represent a floating platform roll direction angle change and a pitch direction angle change, respectively;
step 5: the simultaneous equation calculates the movement of the hydraulic cylinder to keep the offshore floating platform horizontal;
And (3) solving the equation relation established in the step (4) simultaneously to obtain the T 1(t)、T2(t)、T3 (T) and the T 4 (T), and controlling the hydraulic cylinders to move so as to keep the floating platform horizontal.
2. The control method for heave compensation of an offshore platform according to claim 1, characterised in that the control method is in particular:
after an input signal is given to an electric control unit of the hydraulic system, the electric control system converts the signal into current to control the opening size and direction of the electro-hydraulic proportional directional valve, and then the expansion and contraction of the hydraulic cylinder are controlled; the hydraulic cylinder telescopic displacement is fed back to the input end by means of the displacement sensor acquisition heave compensation device, closed-loop control is formed, and further the offshore platform movement device is controlled.
3. The control method for heave compensation of an offshore platform according to claim 1, wherein the establishing of the force balance equation and the moment balance equation in step 4 comprising the T 1(t)、T2(t)、T3 (T) and the T 4 (T) of the hydraulic cylinder forces is specifically:
the force balance equation is as follows:
∑F＝Fh-(mg+T1(t)+T2(t)+T3(t)+T4(t))＝ma
Wherein: f h represents the resultant force of the vertical force of the floating platform at the centroid under the action of the buoyancy and waves; g represents gravitational acceleration; t 1(t)、T2(t)、T3 (T) and T 4 (T) represent the reaction forces of the first, second, third and fourth hydraulic cylinders, respectively, to the upper platform; a represents resultant acceleration;
The moment balance equation is as follows:
Wherein: Σm x (F) and Σm y (F) represent projections of external moments applied to the floating platform on the X axis and the Y axis respectively during heave compensation motion; epsilon X (t) and epsilon Y (t) represent projections of the angular acceleration of the floating platform on the X-axis and Y-axis during heave compensation motions.
4. The control method for heave compensation of an offshore platform according to claim 1, wherein the control cylinder movement in step 5 is:
after the action signal of the hydraulic cylinder of the platform is given, the displacement at the connection point of the upper platform and the execution hydraulic cylinder changes because of the influence of the reaction force on the movement of the platform and the error of the system in the movement process of the hydraulic cylinder; solving a reaction force T of the hydraulic cylinder on the upper platform in the heave compensation motion process through a simultaneous force equation; comparing with the initial measurement value of the pressure sensor, so that the displacement of the hydraulic cylinder in the original direction is reduced/increased, and the compensation effect is achieved; inputting the obtained reaction force as a motion signal of the floating platform in the heave compensation motion process; solving displacement change of the connection point of the hydraulic cylinder of the floating platform and the heave compensation device in the heave compensation motion process; taking the calculated displacement variation at the connecting point of the floating platform as the input quantity of the hydraulic cylinder executed by the heave compensation device; and calculating the displacement variation of the connection point of the heave compensation upper platform and the hydraulic cylinder of the heave compensation device.
5. Tensioner means for implementing the control method for heave compensation of an offshore platform according to any of claims 1 to 4, characterised in that the tensioner means together with the upper platform and the lower platform form 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 tensioning 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, 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 shrinkage of the hydraulic cylinder is realized to tension the vertical pipe; the rod end of the hydraulic cylinder is connected with hydraulic oil, and the rod end of the hydraulic cylinder is connected with a low-pressure nitrogen cylinder; the hydraulic cylinder adopts a single-acting hydraulic cylinder with a piston rod pulled, a rod cavity of the hydraulic cylinder is used for tensioning oil inlet, and the rod cavity is connected with a gas-liquid 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.
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