EP0090741A1 - Dünungskompensationsvorrichtung bei einer an einem Schiff angehängten Unterwasserlast - Google Patents

Dünungskompensationsvorrichtung bei einer an einem Schiff angehängten Unterwasserlast Download PDF

Info

Publication number: EP0090741A1
Authority: EP; European Patent Office
Prior art keywords: cylinder; pulleys; load; cable; fixed
Prior art date: 1982-03-29
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

Application number

EP83400651A

Other languages

English (en)

French (fr)

Other versions

EP0090741B1 (de

Inventor

Richard Eteki

Daniel Fleury

Jean-Pierre Manesse

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Alsthom Atlantique SA

Original Assignee

Alsthom Atlantique SA

Priority date (The priority date 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 date listed.)

1982-03-29

Filing date

1983-03-29

Publication date

1983-10-05

1983-03-29 Application filed by Alsthom Atlantique SA filed Critical Alsthom Atlantique SA

1983-03-29 Priority to AT83400651T priority Critical patent/ATE14558T1/de

1983-10-05 Publication of EP0090741A1 publication Critical patent/EP0090741A1/de

1985-07-31 Application granted granted Critical

1985-07-31 Publication of EP0090741B1 publication Critical patent/EP0090741B1/de

Status Expired legal-status Critical Current

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Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water

Definitions

the invention relates to a device for compensating for the heaving undergone by a load suspended from a ship, such as a diving turret.
the objective to be achieved is that the amplitude of the vertical movements of the diving turret is as low as possible, whatever that of the vertical movements of the boat, which can reach a value of twelve meters and more, in heavy seas.
an objective to be achieved is to reduce the amplitude of the movements of the turret between 5 to 10% of those of the boat.
an active compensation system for unwanted relative movements preferably during the displacement of a load, using a long-period action system for compensation of the static loading caused by said load and a short period action system for compensating for unwanted relative movements of the load relative to a reference level, comprising a compensation cylinder provided with two pistons acting in opposite directions, the cylinder, by the intermediate connection means being capable of being connected to one or more pressure tanks, the long-term system being pneumatic, air or an inert gas serving as an operating medium.
a system for the active compensation of the undesirable relative movements, preferably during the displacement of a load (cargo) by using a system of action with long period for the compensation of the static loading caused by the load and a system of short-time action for compensating for undesirable relative movements of the load with respect to a reference level
the short-period system comprises means for detecting relative movements of the load with respect to a reference level, said means comprising accelerometers, each attached to the external end of the loading arrow, to the load or to the range to which the load is attached and possibly also to said reference level when the latter is in motion and a logical comparator for comparing the measurements said accelerometers.
An object of the invention is to provide a more efficient device with regard to positioning accuracy and the regulation response time.
Another object of the invention is to provide a heave compensation device allowing, in addition to good compensation for the load, the possibility of giving it a vertical movement of controlled amplitude and speed, so as to delicately deposit the load on the bottom of the sea or on an underwater structure.
Another object of the invention is to provide a device for compensating for the heaving undergone by a load suspended by ropes from a boat, which keeps the wire constantly in tension, even when the load is placed on the bottom of the sea or on an underwater structure.
the subject of the invention is a device for compensating for the heaving undergone by a submerged load suspended from a ship by a cable fixed by one end to said load and winding by the other end to a winch placed on the ship, the cable , between the winch and the load, being wound on a muffle having a first and a second set of pulleys, the muffle being associated with means for varying the distance between the two sets of pulleys in response to signals produced by a chain regulator receiving inertial measurement results on said load and / or force measurement on said cable, said means comprising at least one jack of a first type whose cylinder is fixed relative to the boat, the first set of pulleys being integral with the cylinder, the second set of pulleys being fixed at the end of the rod of the jack, said jack being actuated by a servo-valve receiving said signals, the second set of pulleys being fixed to the rod of at least one jack of a second type, said cylinder having
the regulating chain comprises a first loop generating a first control signal of the means for varying the distance between the two sets of pulleys from the measurement of the vertical acceleration undergone by the boat , a second loop developing a second signal added to the first signal, said second signal being produced either from the measurement of the displacement of the rods of the cylinders of the first type relative to the boat, or from the measurement of the tension of the existing cable between the second set of pulley and the load.
the regulation chain comprises a third loop producing a third signal added to the first and second signals, said third signal being produced from the measurement of the relative displacement of the two sets of pulleys.
FIG. 1 there is shown schematically a boat 1, which comprises means for the immersion of a load 2 such as a diving bell.
the immersion means comprise a cable 3 fixed at one end to a winch 4 secured to the boat and passing through a well 5 made in the boat.
the cable passes over a block comprising a set 6 of pulleys with a fixed horizontal axis with respect to the boat and a set 7 of pulleys with a movable horizontal axis.
the game 6 is linked to the cylinders 8A of a set of cylinders generally referenced 8 in the figure, the set of pulleys 7 being fixed to the movable rods 8B of the cylinders.
the reference 10 represents a mobile carriage which is used for handling the bell when it arrives out of the water and that no longer being subjected to the force of Archimedes, its weight becomes too great for the winch 4.
Figures 2 and 3 show an exemplary embodiment of the block-jack assembly.
the movable pulleys 7A and 7B are carried by a movable carriage 17 provided with wheels 18A, 18B resting on rails 19A, 19B.
the carriage is connected to the rods 21A, 22A, 23A, 24A, jacks 21, 22, 23, 24 having cylinders 21B, 22B, 23B and 24B, the role of which will be explained below.
the cylinders 21, 23 are high power passive cylinders, connected to a high pressure oil-gas accumulator 26A and to a low pressure oil-gas accumulator 26C by l 'through a valve 31, safety valves 32, 33 and a directional valve 34.
the role of passive cylinders 21, 23 is to make the system roughly astatic so that in the absence of maneuvers of the winch, the cable does not unwind by itself.
the stiffness of the spring constituted by the accumulator is adjusted by increasing the pressure of the gas, which is contained in a reservoir 35.
a regulator 36 which separates the reservoir from the accumulators 26A and 26C by means of valves 36A and 36C, can be operated manually according to a pressure chart with the length of the cable unwound, or automatically. Nitrogen is preferably chosen as the gas for the accumulators.
the accumulator 26A When the charge is maintained between two waters, the accumulator 26A is used which ensures the astatism of the system; the valve 34 then puts 31 and 32 into communication.
the valve 36A is open and the valve 36C closed.
valve 34 When the load is placed on the seabed, or on a superstructure, only the accumulator 26C is used so as to permanently ensure the tension of the cable.
the valve 34 then communicates 31 and 33.
the valve 36A is closed and the valve 36C is open.
the pressure in the accumulator 26C can also be adjusted manually or automatically.
FIG. 4 This jack is hydraulically supplied through an electrically controlled servo valve 41 and connected on one side to an oil supply system comprising a pump 42 driven by a motor 43, a tarpaulin 44 and a member 45 of oil cooling, preferably with water; on the other side, the servo-valve is connected on either side of the piston 22C of the jack 22, by means of a bypass valve 46 connected to a reservoir of pressurized oil 47.
a first role of the bypass valve 46 is to circulate the quantity of oil necessary for the movements of the piston 22C, by making the concerned chamber of the cylinder communicate with the pressure tank 47, in the event of an electrical failure.
a second role of the bypass valve 46 is to block, if necessary the jack 22, by preventing any circulation of oil on one side or the other of the piston.
the reference 50 designates a reel, the cable 50A of which is linked to the carriage.
the angular position of this reel gives a signal representative of the position of the cylinder rods.
Figure 5 is a general diagram of the entire device showing the boat 1, the load 2, the cable 3, the winch 4, the pulleys of the movable axis 7, the jacks (passive 21, active 22), the accumulator 26A and servo valve 41.
a first embodiment of the regulatory chain is shown in figure 6.
the chain includes a first regulation loop (trend or anticipation loop) which uses the measurement of the instantaneous vertical acceleration of the ship (accelerometer 60); from this measurement, a circuit 61 generates an opposing signal sent to the servo-valve 41.
a first regulation loop trend or anticipation loop
a second loop includes a measurement of the acceleration x "of the pulley 7.
a second loop makes it possible to inject a correction signal which is a function of the estimation of the acceleration of the turret.
This loop includes a circuit 62 for calculating the instantaneous speed of the turret and a circuit 63 for developing the correction signal.
the circuit 63 receives, by an adder circuit 64, the signal from the accelerometer.
An adder circuit 65 makes it possible to collect and add the signals of the two preceding loops.
a third regulation loop (called position control or drift correction) whose role is to constantly refocus the load around the set value, comprises a member 66 of the measurement xa of the vertical displacement of the pulley 7 by report to the boat and a comparator circuit 67 receiving the setpoint. Adding circuits 68 and 69 are used in this loop.
An alternative embodiment of the servo system consists in replacing, in the second loop, the measurement of the acceleration of the load by the measurement of the tension T of the cable at the hook for attaching the load.
the chain circuits are analog or digital.
the device which has just been described allows compensation for the heaving of the load which is reduced to a value less than 10% of that of the heaving of the ship.
the passive cylinders associated with the accumulators allow compensation close to 50%.
the Active cylinders give the possibility of precisely adjusting the altitude of the load, which is particularly advantageous when depositing a load on a structure or at the bottom of the sea.

Landscapes

Engineering & Computer Science (AREA)
Mechanical Engineering (AREA)
Jib Cranes (AREA)
Supplying Of Containers To The Packaging Station (AREA)
Chair Legs, Seat Parts, And Backrests (AREA)
Electric Cable Installation (AREA)
Load-Engaging Elements For Cranes (AREA)
Supports For Pipes And Cables (AREA)
Underground Structures, Protecting, Testing And Restoring Foundations (AREA)

EP83400651A 1982-03-29 1983-03-29 Dünungskompensationsvorrichtung bei einer an einem Schiff angehängten Unterwasserlast Expired EP0090741B1 (de)

Priority Applications (1)

Application Number	Priority Date	Filing Date	Title
AT83400651T ATE14558T1 (de)	1982-03-29	1983-03-29	Duenungskompensationsvorrichtung bei einer an einem schiff angehaengten unterwasserlast.

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
FR8205309		1982-03-29
FR8205309A FR2523918A1 (fr)	1982-03-29	1982-03-29	Dispositif de compensation du pilonnement subi par une charge immergee suspendue a partir d'un navire

Publications (2)

Publication Number	Publication Date
EP0090741A1 true EP0090741A1 (de)	1983-10-05
EP0090741B1 EP0090741B1 (de)	1985-07-31

Family

ID=9272494

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP83400651A Expired EP0090741B1 (de)	1982-03-29	1983-03-29	Dünungskompensationsvorrichtung bei einer an einem Schiff angehängten Unterwasserlast

Country Status (5)

Country	Link
EP (1)	EP0090741B1 (de)
AT (1)	ATE14558T1 (de)
DE (1)	DE3360459D1 (de)
FR (1)	FR2523918A1 (de)
NO (1)	NO831079L (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
EP1280726A1 (de) *	2000-04-05	2003-02-05	Cooper Cameron Corporation	System und verfahren zur aktiven kompensation
US8297597B2 (en)	2007-09-19	2012-10-30	National Oilwell Varco Norway As	Method for lift compensation
CN106364630A (zh) *	2016-09-22	2017-02-01	华中科技大学	一种有缆水下机器人半主动升沉补偿***
CN110186648A (zh) *	2019-06-19	2019-08-30	中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所）	波浪载荷自航船模试验保护装置及其使用方法
CN111039177A (zh) *	2019-12-24	2020-04-21	攀钢集团西昌钢钒有限公司	一种桥式起重机钢丝绳长度测量装置
CN112097734A (zh) *	2020-08-06	2020-12-18	中海石油(中国)有限公司深圳分公司	半潜式平台升沉测量装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN101746493B (zh) *	2010-01-29	2012-06-27	纪建阳	一种水底观光潜水***

Citations (9)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
GB1511428A (en) *	1976-07-21	1978-05-17	British Columbia Res Council	Heave compensating cranes
FR2378709A1 (fr) *	1977-01-28	1978-08-25	Strommen Staal As	Systeme de compensation active des mouvements relatifs indesirables, de preference pendant le deplacement d'une charge (cargaison)
FR2383876A2 (fr) *	1977-03-17	1978-10-13	Elf Aquitaine	Dispositif de compensation des variations de distance entre un objet flottant sur l'eau et le fond de celle-ci
FR2397361A1 (fr) *	1977-07-14	1979-02-09	Automatic Drilling Mach	Appareil compensateur de mouvement vertical destine a etre utilise sur une grue ou autre appareil de levage
FR2418193A1 (fr) *	1978-02-23	1979-09-21	Simon Francois	Procede et dispositif pour la compensation de phenomenes perturbateurs dans les systemes de levage et de manutention
FR2428608A1 (fr) *	1978-06-12	1980-01-11	Nl Industries Inc	Procede et dispositif de compensation de mouvement
GB2045196A (en) *	1979-03-31	1980-10-29	Ferranti Ltd	Cable tensioning device
GB2053127A (en) *	1979-06-19	1981-02-04	Gec Elliott Mech Handling	Motion compensating system
WO1981001402A1 (en) *	1979-11-17	1981-05-28	Caley Hydraulics Ltd	Heave compensator

1982
- 1982-03-29 FR FR8205309A patent/FR2523918A1/fr active Granted
1983
- 1983-03-25 NO NO831079A patent/NO831079L/no unknown
- 1983-03-29 AT AT83400651T patent/ATE14558T1/de not_active IP Right Cessation
- 1983-03-29 EP EP83400651A patent/EP0090741B1/de not_active Expired
- 1983-03-29 DE DE8383400651T patent/DE3360459D1/de not_active Expired

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
GB1511428A (en) *	1976-07-21	1978-05-17	British Columbia Res Council	Heave compensating cranes
FR2378709A1 (fr) *	1977-01-28	1978-08-25	Strommen Staal As	Systeme de compensation active des mouvements relatifs indesirables, de preference pendant le deplacement d'une charge (cargaison)
FR2383876A2 (fr) *	1977-03-17	1978-10-13	Elf Aquitaine	Dispositif de compensation des variations de distance entre un objet flottant sur l'eau et le fond de celle-ci
FR2397361A1 (fr) *	1977-07-14	1979-02-09	Automatic Drilling Mach	Appareil compensateur de mouvement vertical destine a etre utilise sur une grue ou autre appareil de levage
FR2418193A1 (fr) *	1978-02-23	1979-09-21	Simon Francois	Procede et dispositif pour la compensation de phenomenes perturbateurs dans les systemes de levage et de manutention
FR2428608A1 (fr) *	1978-06-12	1980-01-11	Nl Industries Inc	Procede et dispositif de compensation de mouvement
GB2045196A (en) *	1979-03-31	1980-10-29	Ferranti Ltd	Cable tensioning device
GB2053127A (en) *	1979-06-19	1981-02-04	Gec Elliott Mech Handling	Motion compensating system
WO1981001402A1 (en) *	1979-11-17	1981-05-28	Caley Hydraulics Ltd	Heave compensator

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
EP1280726A1 (de) *	2000-04-05	2003-02-05	Cooper Cameron Corporation	System und verfahren zur aktiven kompensation
EP1280726A4 (de) *	2000-04-05	2006-12-13	Cooper Cameron Corp	System und verfahren zur aktiven kompensation
US8297597B2 (en)	2007-09-19	2012-10-30	National Oilwell Varco Norway As	Method for lift compensation
CN106364630A (zh) *	2016-09-22	2017-02-01	华中科技大学	一种有缆水下机器人半主动升沉补偿***
CN106364630B (zh) *	2016-09-22	2018-07-24	华中科技大学	一种有缆水下机器人半主动升沉补偿***
CN110186648A (zh) *	2019-06-19	2019-08-30	中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所）	波浪载荷自航船模试验保护装置及其使用方法
CN110186648B (zh) *	2019-06-19	2020-10-30	中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所）	波浪载荷自航船模试验保护装置及其使用方法
CN111039177A (zh) *	2019-12-24	2020-04-21	攀钢集团西昌钢钒有限公司	一种桥式起重机钢丝绳长度测量装置
CN112097734A (zh) *	2020-08-06	2020-12-18	中海石油(中国)有限公司深圳分公司	半潜式平台升沉测量装置

Also Published As

Publication number	Publication date
FR2523918A1 (fr)	1983-09-30
NO831079L (no)	1983-09-30
ATE14558T1 (de)	1985-08-15
DE3360459D1 (en)	1985-09-05
FR2523918B1 (de)	1985-05-03
EP0090741B1 (de)	1985-07-31

Legal Events

Date	Code	Title	Description
1983-08-05	PUAI	Public reference made under article 153(3) epc to a published international application that has entered the european phase	Free format text: ORIGINAL CODE: 0009012
1983-10-05	AK	Designated contracting states	Designated state(s): AT BE CH DE FR GB IT LI LU NL SE Kind code of ref document: A1 Designated state(s): AT BE CH DE FR GB IT LI LU NL SE
1984-01-25	17P	Request for examination filed	Effective date: 19831121
1985-04-12	ITF	It: translation for a ep patent filed	Owner name: JACOBACCI & PERANI S.P.A.
1985-05-31	GRAA	(expected) grant	Free format text: ORIGINAL CODE: 0009210
1985-07-31	AK	Designated contracting states	Kind code of ref document: B1 Designated state(s): AT BE CH DE FR GB IT LI LU NL SE
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1986-06-05	PLBE	No opposition filed within time limit	Free format text: ORIGINAL CODE: 0009261
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1987-03-17	PGFP	Annual fee paid to national office [announced via postgrant information from national office to epo]	Ref country code: AT Payment date: 19870317 Year of fee payment: 5
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1988-09-30	BERE	Be: lapsed	Owner name: ALSTHOM-ATLANTIQUE Effective date: 19880331
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1988-11-16	NLV4	Nl: lapsed or anulled due to non-payment of the annual fee
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