KR20160051282A - Vessel Position Control System in Floating Offshore Plant - Google Patents

Vessel Position Control System in Floating Offshore Plant Download PDF

Info

Publication number
KR20160051282A
KR20160051282A KR1020140150927A KR20140150927A KR20160051282A KR 20160051282 A KR20160051282 A KR 20160051282A KR 1020140150927 A KR1020140150927 A KR 1020140150927A KR 20140150927 A KR20140150927 A KR 20140150927A KR 20160051282 A KR20160051282 A KR 20160051282A
Authority
KR
South Korea
Prior art keywords
thruster
hull
control
variable
unit
Prior art date
Application number
KR1020140150927A
Other languages
Korean (ko)
Inventor
김덕기
Original Assignee
현대중공업 주식회사
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.)
Filing date
Publication date
Application filed by 현대중공업 주식회사 filed Critical 현대중공업 주식회사
Priority to KR1020140150927A priority Critical patent/KR20160051282A/en
Publication of KR20160051282A publication Critical patent/KR20160051282A/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention relates to a hull position control system in a floating offshore plant.
The present invention relates to a control apparatus for a hull comprising: an instruction unit for providing a command signal and data for controlling the hull position control automatically or manually; A direction determining unit for determining a moving direction of the hull and automatically applying the determined moving direction information to the direction control unit when the hull is automatically controlled according to the command signal of the command unit; A direction controller for outputting a control signal for automatically controlling the thruster on the basis of the moving direction information applied from the direction determiner; A variable thruster is driven by applying a variable frequency alternating current power to a motor for driving a fixed thruster and a variable thruster on the forward side in accordance with a control signal outputted from the direction control unit to drive the fixed thruster and the variable thruster on the forward side A first variable speed driving unit; A variable thruster is driven by applying a variable frequency alternating current power to a motor for driving a fixed thruster and a variable thruster on the aft side in accordance with a control signal outputted from the direction control unit, thereby driving the fixed thruster and the variable thruster And a second variable speed drive unit for controlling the hull position in the floating marine plant.
According to the present invention, in the case of adjusting the position of the floating marine plant hull, the complex turret system for adjusting the position of the hull by moving the hull around the existing turret is used by dynamically adjusting the position of the hull by the thruster It is possible to position the hull to be fixed at a specific position, so that the position of the hull can be adjusted economically.

Figure P1020140150927

Description

Technical Field [0001] The present invention relates to a position control system for a floating offshore plant,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floating offshore plant for producing, storing and unloading LNG (liquefied natural gas) from the sea. In particular, in the case of adjusting the sea position of a floating offshore plant hull, To a hull position control system in a floating offshore plant that allows the position of the hull to be economically adjusted without using a complicated turret system for moving the hull.

Floating offshore plants such as LNG-FPSO (Floating Production Storage and Offloading) and FLNG (Floating Liquefaction Natural Gas) are used to produce, store and unload LNG by mining natural gas buried on the sea floor As a marine facility.

Such a floating offshore plant consists of a sub-facility (hull) that floats all facilities at sea and stores LNG, and a topside that pretreats, liquefies and unloads LNG.

In the floating type offshore plant, when the LNG produced and stored by itself is transferred to the user, the LNG ship 15 is ridden on the floating offshore plant 10 and the floating offshore plant 10 to the LNG carrier 15, the LNG carrier 15 transports the LNG to the user.

When the LNG ship 15 is unloaded to the LNG ship 15 by docking on the floating offshore plant 10, the anchor chain 12 is fixedly moored at a fixed position on the sea floor, The position of the floating offshore plant 10 is adjusted in the left and right directions around the turret 11 which collects the natural gas to be collected and transported to thereby move the floating offshore plant 10 to a specific position It is necessary to adjust the position of the floating offshore plant 10 so as to keep the distance from the LNG ship 15 within the specified range.

Thus, in the past, a turret system was used to adjust the position of the hull of the floating offshore plant 10. The turret system includes a turret as a fixed cylindrical steel structure that is connected to a mooring line and does not rotate, wherein the hull of the floating offshore plant (10) is coupled to the turret which is a fixed cylindrical steel structure The hull of the floating offshore plant 10 is freely rotated around the turret by the propulsive force and the steering of the stern side to adjust the position and smooth the flow of the submerged fluid, Thereby helping the offshore plant 10 to rotate and adjust its position around the turret 11 at sea.

As described above, in the conventional float-type offshore plant 10, the turret system is applied in the case of adjusting the position of the hull to be fixed at a specific position. The turret system has a mechanical The structure is very complicated, so that it takes a lot of cost to design and install the turret system.

The present invention has been proposed in order to solve the problems of the conventional art as described above, and it is an object of the present invention to provide a turret structure capable of dynamically adjusting the position of a hull by a thruster, The object of the present invention is to provide a hull position control system in a floating offshore plant that allows the position of a hull to be adjusted economically without using a complicated turret system for adjusting the position of the hull by moving the hull around the turret.

In order to accomplish the above object, the present invention provides a control system for a hull comprising: a command unit for providing a command signal and data for controlling the hull position control automatically or manually; A direction determining unit for determining a moving direction of the hull and automatically applying the determined moving direction information to the direction control unit when the hull is automatically controlled according to the command signal of the command unit; A direction controller for outputting a control signal for automatically controlling the thruster on the basis of the moving direction information applied from the direction determiner; A variable thruster is driven by applying a variable frequency alternating current power to a motor for driving a fixed thruster and a variable thruster on the forward side in accordance with a control signal outputted from the direction control unit to drive the fixed thruster and the variable thruster on the forward side A first variable speed driving unit; A variable thruster is driven by applying a variable frequency alternating current power to a motor for driving a fixed thruster and a variable thruster on the aft side in accordance with a control signal outputted from the direction control unit, thereby driving the fixed thruster and the variable thruster And a second variable speed drive unit for controlling the hull position in the floating marine plant.

According to the hull position control system in the floating offshore plant according to the present invention, the command unit includes a position control terminal for providing hull movement range data when the hull position control is automatically performed, to the direction determination unit; And a thruster control terminal for outputting a control signal for manually controlling the hull position control.

According to a hull position control system in a floating offshore plant according to the present invention, a gyro compass for detecting azimuth information and providing azimuth information to a direction determination unit; A wind sensor for detecting a direction and a velocity of the wind and providing it to the direction determination unit; A current sensor for detecting a direction and a velocity of the current and providing it to the direction determination unit; And a GPS signal receiving unit for receiving the GPS (Global Positioning System) signal from the satellite and providing the acquired position information to the direction determining unit.

According to the present invention, the direction determining unit determines the current position of the hull on the basis of the azimuth information from the gyro compass and the GPS signal from the GPS signal receiving unit, The direction of the hull to determine the hull moving direction to fix and position the hull at a specific position is determined by reflecting the wind direction and velocity information of the hull and the current direction and velocity information from the current sensor.

According to the hull position control system in the floating offshore plant according to the present invention, the direction determining unit determines the hull moving direction so as to move the hull within the movable range of the hull by referring to the hull moving range data applied from the command unit do.

In addition, according to the present invention, when the control is not received from the thruster control terminal, the control signal transmitted from the direction control unit is transmitted to the first variable speed drive unit, A first local thruster control unit for delivering a control signal applied from the control terminal to the first variable speed drive unit and applying a control signal to the first variable speed drive unit according to a manual operation of the user when the control right is received from the thruster control terminal ; If the control signal is not received from the thruster control terminal, the controller transmits a control signal applied from the direction control unit to the second variable speed drive unit or a control signal applied from the thruster control terminal to the second variable speed drive unit, And a second local thruster control unit for applying a control signal to the second variable speed driving unit according to a manual operation of the user when the control right is received from the control terminal.

In the meantime, according to the present invention, the first and second local thrusters control unit collects thruster driving state detection data of the fixed thruster and the variable thruster and outputs the thruster driving state detection data to the direction control unit And the first and second variable speed drive units apply motor drive state data indicating the drive state of the motor for driving the fixed thruster and the variable thruster to the direction control unit.

According to the hull position control system in the floating offshore plant according to the present invention, the direction control section includes thruster drive state detection data from the first and second local thruster control sections, and motor drive state detection data from the first and second speed variable drive sections, The driving state data is collected and provided to the monitoring and control unit so that the monitoring and control unit monitors the driving state of the fixed thruster, the variable thruster, and the thruster driving motor.

According to the present invention, the first and second variable speed drive units are provided with motor drive state data representing the drive state of the motor for driving the fixed thruster and the variable thruster, The direction determining unit determines the direction of the hull by reflecting the driving state of the thruster driving motor.

According to the hull position control system in the floating offshore plant according to the present invention, the surveillance control unit receives all the data related to the hull position control situation applied from the direction control unit and monitors all the driving situations of the hull position control system And an integrated control terminal for controlling the integrated control terminal; And a backup thruster control terminal for backing up and storing all data related to the hull position control and performing the hull position manual control function of the command unit in place of the user request.

According to the present invention, the variable thrusters are provided on the fore and aft sides and include a propeller in the duct, and are coupled to the bottom of the hull through supports , The motor is driven to rotate the support so that the duct and the propeller are adjusted to the left and right direction by the corresponding angle to adjust the propulsion direction and the drive shaft provided inside the support is driven by the motor to rotate the propeller in the forward and backward directions To generate thrust force.

In addition, according to the present invention, the fixed thrusters are provided at the fore and aft sides of the hull, and include propellers at both ends of a tunnel formed in the form of a tunnel, The upper surface is fixed to the bottom of the hull, and the driving shaft is driven by the motor to rotate the propeller so as to generate propulsive force toward the side of the hull.

According to the present invention, a complex turret system is used to adjust the position of the hull by moving the hull around the existing turret by dynamically adjusting the position of the hull by the thruster in the case of adjusting the position of the float of the floating offshore plant hull Without this, the position of the hull can be adjusted economically.

1 is a perspective view illustrating the operation of a conventional floating offshore plant.
2 is a plan view illustrating hull position adjustment in a conventional floating offshore plant.
3 is a bottom view illustrating the installation of a thruster for hull position adjustment in a floating offshore plant according to the present invention.
4 is a side view illustrating the installation of the variable thruster and the fixed thruster according to the present invention.
5 is a perspective view illustrating a variable thruster applied to the present invention.
6 is a perspective view illustrating a fixed thruster applied to the present invention.
7 is a block diagram illustrating a hull position control system in a floating offshore plant according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

The present invention relates to a method of adjusting the position of a floating structure of a floating offshore plant by dynamically adjusting the position of the hull by a thruster without using a complex turret system for moving the hull around an existing turret to adjust the position of the hull So that the position of the hull can be economically adjusted.

In order to accomplish this, the present invention, when adjusting the position of the hull in a floating offshore plant, includes a thruster on the bottom of the sea-side hull of the floating offshore plant 20, as illustrated in the bottom view of FIG. 3 , A fixed thruster (30) and a variable thruster (40) are provided on the forward side, a low and high thruster (30) and a variable thruster (40) are provided on the aft side, And the hull position of the floating offshore plant 20 is adjusted by driving the thruster 30 and the variable thruster 40.

A fixed thruster 30 and a variable stator 40 are provided on the bottom of the fore and aft sides of the floating offshore plant 20, respectively, and the fixed thruster 30 and the variable thruster 40, So that the hull position of the floating offshore plant 20 is adjusted by the propulsive force.

In the present invention, the fixed thruster 30 and the variable thruster 40 installed on the fore and aft sides of the floating offshore plant 20 are installed so as to be submerged in seawater as illustrated in the side view of FIG. The fixed thruster 30 is provided with two propellers to generate a propulsive force in the lateral direction of the hull. The variable thruster 40 has one propeller and adjusts the propelling direction by adjusting the propeller direction to the left and right And generates forward and backward propulsive forces to adjust the position of the floating offshore plant (20) in the sea by the propulsion force.

The variable thruster 40 installed on the fore and aft sides of the floating offshore plant 20 has a propeller 43 inside the duct 42 as illustrated in FIG. 5, 41 and drives the motor to rotate the support table 41 as shown by the arrow A-A 'so as to adjust the duct 42 and the propeller 43 in the left and right direction of the ship at the corresponding angles The propulsion direction is adjusted and the drive shaft provided in the support table 41 is driven by the motor to rotate the propeller 43 to generate propulsive force in the forward and backward directions as illustrated by the arrow B or arrow B ' The propulsion direction of the propeller 42 is adjusted in the left and right direction of the ship so as to generate propulsive forces in the forward and backward directions with respect to the propulsion direction.

The fixed thruster 30 installed on the fore and aft side of the floating offshore plant 20 is constructed as illustrated in FIG. A duct 33 is provided at both ends of a duct 32 in the form of a tunnel and the upper end surface 34 of the duct 32 is fixed to the bottom of the hull and fixed to the drive shaft 31 by a motor provided in the hull. By driving the propeller 33 to draw seawater as shown by the arrow CC 'or the arrow D-D' to generate propulsive force on the side of the hull, thereby adjusting the propulsive direction of the variable thruster 40 When the hull position is adjusted by generating the forward and backward thrust, the propulsion force is generated to reduce the resistance of the position adjustment.

In the case where the fixed thruster 30 and the variable thruster 40, which are provided in pairs on the fore and aft sides of the floating offshore plant 20, are driven to adjust the position of the floating offshore plant 20, And controls the driving of the fixed thruster 30 and the variable thruster 40 by the hull position control system 100 as illustrated in Fig.

The hull position control system 100 of the floating offshore plant according to the present invention includes a gyro compass 91, a wind sensor 92, a current sensor 93, a GPS signal receiving unit 94, a monitoring control unit 110, A direction control unit 130, a direction determination unit 140, local thruster control units 160a and 160b, and speed variable driving units 170a and 170b.

The monitoring and control unit 110 monitors and controls all the driving situations of the hull position control system 100 and backs up all data related to hull position control. The supervisory control unit 110 includes an integrated control terminal 111 and a backup thruster control terminal 113. The integrated control terminal 111 receives all data related to the hull position control state applied from the direction control unit 130 The backup thruster control terminal 113 backs up all data related to the hull position control and stores the back up data in the hull position control system 113 according to the user's request, This is done in place of the manual position control function.

The command unit 120 outputs the control signal for manually controlling the hull position control to the local thrusters control units 160a and 160b or the hull movable range data when the hull position control is automatically performed, (140). The command unit 120 includes a position control terminal 121 and a thruster control terminal 123. The position control terminal 121 transmits hull movable range data in the case where the hull position control is automatically performed, And the thruster control terminal 123 outputs a control signal for manually controlling the hull position control to the local thruster controllers 160a and 160b.

The gyro compass 91 detects azimuth information and provides the azimuth information to the direction determination unit 140. The wind sensor 92 detects the direction and velocity of the wind and provides it to the direction determination unit 140, The GPS signal receiving unit 94 receives the GPS (Global Positioning System) signal from the satellite, and outputs the acquired position information to the direction determining unit 140. The direction determining unit 140 detects the direction and the velocity of the current, .

The direction determining unit 140 determines the moving direction of the hull in the case where the hull is automatically positioned and applies the determined moving direction information to the direction controlling unit 130 to cause the direction controlling unit 130 to transmit the determined moving direction information And outputs a control signal for thruster control.

When determining the moving direction of the hull, the direction determination unit 140 determines the current position of the hull based on the azimuth information from the gyro compass 91 and the GPS signal from the GPS signal receiving unit 94 And determines a hull moving direction for fixing and positioning the hull at a specific position by reflecting the wind direction and velocity information from the wind sensor 92 and the current direction and velocity information from the current sensor 93, And applies direction information to the direction control unit 130.

The direction determining unit 140 refers to the hull movement range data applied from the command unit 120 to determine the moving direction of the hull for fixing and positioning the hull at a specific position, You decide to move the hull.

The direction controller 130 outputs to the local thruster controllers 160a and 160b a control signal for controlling the hull to move in the moving direction based on the hull moving direction information supplied from the direction determining unit 140. [

The local thruster control units 160a and 160b are provided with a manual operation device and output a control signal to the speed variable driving units 170a and 170b according to a manual instruction of the user and are controlled by the speed variable driving units 170a and 170b, The speed variable driving units 170a and 170b are controlled by manually controlling the position of the hull by driving the throttle 30 and the variable thruster 40 or by transmitting control signals from the direction control unit 130 to the speed variable driving units 170a and 170b, 170b automatically drive the fixed thruster 30 and the variable thruster 40 to adjust the hull position automatically.

The variable speed driving units 170a and 170b drive the fixed thruster 30 and the variable thruster 40 based on the control signals applied from the local thruster control units 160a and 160b to generate thrust force, Variable speed alternating current is applied to the motor for driving the fixed thruster 30 and the variable thruster 40 to vary the speed of the motor.

Among the local thruster controllers 160a and 160b and the speed variable drivers 170a and 170b shown in Figure 7, the local thruster controller 160a and the speed variable driver 170a are connected to the thruster 30 and 40 on the forward side, And the rest of the local thruster control unit 160b and the variable speed drive unit 170b are for driving the stern thrusters 30 and 40. [

7, two local thruster controllers 160a and 160b and two speed variable drivers 170a and 170b are provided, one of which is a fixed thruster ( 30, and the other one is for driving the variable thruster 40.

The local thruster controllers 160a and 160b collect thunder driving state detection data such as pressure and temperature of the thrusters 30 and 40 at the time of driving the fixed thruster 30 and the variable thruster 40, To the control unit 130. The variable speed driving units 170a and 170b apply variable frequency alternating currents to the motors for driving the fixed thruster 30 and the variable thruster 40 to variably drive the speed of the motors, And the variable thruster 40 to generate propulsion force to adjust the position of the hull, the motor driving state data indicating the driving state of the corresponding motor is applied to the direction control unit 130.

The direction control unit 130 collects thruster driving state detection data from the local thruster control units 160a and 160b and motor driving state data from the speed variable driving units 170a and 170b and provides them to the monitoring control unit 110 The monitoring and controlling unit 110 monitors the driving states of the thrusters 30 and 40 and the thruster driving motor.

The variable speed driving units 170a and 170b apply variable frequency alternating currents to the motors for driving the fixed thruster 30 and the variable thruster 40 to variably drive the speed of the motors so that the fixed thruster 30, And the variable thruster 40 to generate driving force to adjust the position of the hull and apply the motor driving state data indicating the driving state of the corresponding motor to the direction determining unit 140 so that the direction determining unit 140 The driving direction of the stator driving motor is reflected to determine the hull direction.

The thruster control terminal 123 of the command unit 120 transmits a manual control signal to the speed variable drivers 170a and 170b through the local thruster controllers 160a and 160b, The thrusters 30 and 40 are manually controlled to adjust the hull position. When the thruster control terminal 123 hands over the control right to the local thruster control units 160a and 160b, the local thruster control units 16a and 160b transmit the control signals to the speed variable drivers 170a and 170b The thrusters 30 and 40 are manually controlled by directly applying a manual control signal to adjust the hull position.

When the command unit 120 transmits control related data and signals to the direction determination unit 140 and the local thruster control units 160a and 160b, the control related data is transmitted to the backup supervisor 110 Collected and stored in the controller control terminal 113 so that the monitoring control unit 110 can perform the function of the command unit 120 instead.

The backup thruster control terminal 113 of the surveillance control unit 110 performs the manual control function of the thruster control terminal 120 upon receipt of the control right from the thruster control terminal 120, It is possible to manually adjust the position of the hull by manually controlling the thrusters 30 and 40 by directly applying the manual control signal to the speed variable drivers 170a and 170b through the local thruster controllers 160a and 160b.

The backup thruster control terminal 113 and the integrated control terminal 111 are coupled to each other through a communication network and the backup thruster control terminal 113 controls the local thruster controllers 160a and 160b The control-related data may be provided to the integrated control terminal 111 through the communication network to be used for monitoring and controlling the system.

The hull position control system 100 in the floating offshore plant according to the present invention having the functions as described above functions as follows.

When the hull position of the floating offshore plant is to be automatically controlled, the position control terminal 121 of the command unit 120 transmits the hull movable range data when the hull position control is automatically performed to the direction determination unit 140, And applies an automatic positioning command to the direction determination unit 140. [

The direction determiner 140 determines the current position of the hull based on the azimuth information from the gyro compass 91 and the GPS signal from the GPS signal receiver 94, The moving direction of the hull for fixing and positioning the hull at a specific position is determined by reflecting the speed information and the current direction and velocity information from the current sensor 93. The hull moving range data applied from the command unit 120 is referred to Determines to move the hull within the movable range of the hull, and applies the hull moving direction information to the direction control unit 130.

The direction control unit 130 sends a control signal to the local thruster control units 160a and 160b for automatically controlling the hull to move in the moving direction based on the hull moving direction information supplied from the direction determination unit 140 Output.

Accordingly, the local thruster controllers 160a and 160b transmit the control signals from the direction controller 130 to the speed variable drivers 170a and 170b, and the fixed thruster 30 And the variable thruster 40 to adjust the hull position.

At this time, the speed variable driving units 170a and 170b drive the fixed thruster 30 and the variable thruster 40 based on the control signals applied from the local thruster control units 160a and 160b to generate thrust force, Variable speed alternating current is applied to the motor for driving the fixed thruster 30 and the variable thruster 40 to vary the speed of the motor.

The local thruster controller 160a and the speed variable driver 170a are responsible for driving the thruster 30 and 40 on the forward side and the local thruster controller 160b and the speed variable driver 170b are for driving the thruster 30, By engaging in driving the stirrers 30 and 40, the hull of the floating offshore plant is automatically positioned at a specific position.

In this way, when the processing of automatically positioning the hull of the floating offshore plant at a specific position is performed, the local thruster control units 160a and 160b can control the operation of the fixed thruster 30 and the variable thruster 40 The speed variable driving units 170a and 170b collect the thruster driving state detection data such as the pressure and the temperature of the thrusters 30 and 40 and apply the same to the direction control unit 130. The speed variable driving units 170a and 170b control the fixed thruster 30 and the variable thruster 30, To the direction controller 130, motor drive state data indicating the drive state of the motor for driving the rotor 40. [

The direction control unit 130 collects the thruster driving state detection data from the local thruster control units 160a and 160b and the motor driving state data from the speed variable driving units 170a and 170b, So that the monitoring and control unit 110 monitors the driving states of the thrusters 30 and 40 and the thruster driving motor.

The variable speed driving units 170a and 170b apply variable frequency alternating currents to the motors for driving the fixed thruster 30 and the variable thruster 40 to variably drive the speed of the motors so that the fixed thruster 30, And the variable thruster 40 to generate driving force to adjust the position of the hull, the motor driving state data indicating the driving state of the corresponding motor is applied to the direction determining unit 140 so that the direction determining unit 140 The direction of the hull is determined by reflecting the driving state of the thruster driving motor.

Meanwhile, in order to manually control the hull position of the floating offshore plant, the thruster control terminal 123 of the command unit 120 sends a control signal to the local thruster control units 160a and 160b And the thruster control terminal 123 transfers the control to the local thruster controllers 160a and 160b so that the thruster controllers 30a and 30b are controlled by the thruster controllers 30a and 30b The subject local thruster control units 16a and 160b may manually control the thrusters 30 and 40 by applying a control signal directly to the speed variable driving units 170a and 170b by manual instruction of the user to adjust the hull position, The backup thruster control terminal 113 of the control unit 110 receives the control right from the thruster control terminal 120 and receives the control right from the thruster control terminal 120 through the local thruster control units 160a and 160b, 170b A direct control signal is applied to manually control the thrusters 30 and 40 to adjust the hull position.

In this way, when the processing for manually controlling the position of the hull of the floating offshore plant is performed, the local thruster control units 160a and 160b can control the position of the fixed thruster 30 and the variable thruster 40, The variable speed driving units 170a and 170b collect the thruster driving state detection data such as the pressure and the temperature of the stirrers 30 and 40 and apply the same to the direction control unit 130. The variable speed driving units 170a and 170b apply the fixed thruster 30 and the variable thruster 30 40 to the direction control section 130. The direction control section 130 outputs the motor drive state data indicating the drive state of the motor.

The direction control unit 130 collects the thruster driving state detection data from the local thruster control units 160a and 160b and the motor driving state data from the speed variable driving units 170a and 170b, So that the monitoring and control unit 110 monitors the driving states of the thrusters 30 and 40 and the thruster driving motor.

As described above, the present invention can automatically position the floating marine plant hull at a specific position by dynamically adjusting the position of the hull by the thruster in the case of adjusting the marine position of the floating marine plant hull, Even if a fixed turret moored with an anchor chain is applied to the hull of an offshore plant, the hull can be fixed and positioned at a specific location, so that even if a complex turret system for adjusting the position of the hull by moving the hull around the existing turret is not used The position of the hull can be adjusted, thereby improving the economical efficiency.

   The present invention is not limited to the above description and various changes and modifications of the present invention may be made without departing from the spirit of the present invention, Such modifications are considered to be within the technical scope of the present invention.

The present invention may be applied to a case where the hull position of a floating offshore plant such as LNG-FPSO and FLNG is adjusted. According to the present invention, in the case of adjusting the position of the floating marine plant hull, the complex turret system for adjusting the position of the hull by moving the hull around the existing turret is used by dynamically adjusting the position of the hull by the thruster It is possible to position the hull to be fixed at a specific position, so that the position of the hull can be adjusted economically.

10, 20; Floating offshore plant 11; Turret
30; Fixed thruster 40; Variable thruster
91; Gyro compass 92; Wind sensor
93; Current sensor 94: GPS signal receiver
100; A hull position control system 110; Monitoring and Control Department
120; A command unit 130; Direction controller
140; Direction determining units 160a and 160b; The local thruster control unit
170a, 170b; The variable-

Claims (13)

An instruction unit for providing all command signals and data for controlling the hull position control automatically or manually;
A direction determining unit for determining a moving direction of the hull and automatically applying the determined moving direction information to the direction control unit when the hull is automatically controlled according to the command signal of the command unit;
A direction controller for outputting a control signal for automatically controlling the thruster on the basis of the moving direction information applied from the direction determiner;
A variable thruster is driven by applying a variable frequency alternating current power to a motor for driving a fixed thruster and a variable thruster on the forward side in accordance with a control signal outputted from the direction control unit to drive the fixed thruster and the variable thruster on the forward side A first variable speed driving unit;
A variable thruster is driven by applying a variable frequency alternating current power to a motor for driving a fixed thruster and a variable thruster on the aft side in accordance with a control signal outputted from the direction control unit, thereby driving the fixed thruster and the variable thruster And a second variable speed drive operable to control the hull position in the floating offshore plant.
The method according to claim 1,
[0028]
A position control terminal for providing hull movement range data for automatically performing hull position control to the direction determination unit;
And a thruster control terminal for outputting a control signal for manually controlling the hull position control.
The method according to claim 1,
A gyro compass which detects azimuth information and provides it to a direction determination unit;
A wind sensor for detecting a direction and a velocity of the wind and providing it to the direction determination unit;
A current sensor for detecting a direction and a velocity of the current and providing it to the direction determination unit;
Further comprising a GPS signal receiving unit for receiving the GPS (Global Positioning System) signal from the satellite and providing the obtained position information to the direction determining unit.
The method according to any one of claims 1 to 3,
The direction determining unit determines the current position of the ship based on the azimuth information from the gyro compass and the GPS signal from the GPS signal receiving unit, and reflects the wind direction and velocity information from the wind sensor and the current direction and velocity information from the current sensor Wherein the direction of hull movement for determining the position of the hull in a fixed position is determined.
The method of claim 4,
Wherein the direction determining unit determines a moving direction of the hull so as to move the hull within the movable range of the hull by referring to the hull moving range data applied from the command unit.
The method according to claim 1 or 2,
If the control signal is not received from the thruster control terminal, transfers the control signal applied from the direction control section to the first variable speed drive section or transmits the control signal applied from the thruster control terminal to the first variable speed drive section, A first local thruster control unit for applying a control signal to the first variable speed driving unit according to a manual operation of the user when the control right is received from the control terminal;
If the control signal is not received from the thruster control terminal, the controller transmits a control signal applied from the direction control unit to the second variable speed drive unit or a control signal applied from the thruster control terminal to the second variable speed drive unit, And a second local thruster control unit for applying a control signal to the second variable speed drive unit according to manual operation of the user when the control right is received from the control terminal.
The method of claim 6,
Wherein the first and second local thrusters control units collect thunder driving state detection data of the fixed thruster and the variable thruster and apply the same to the direction control unit.
The method of claim 6,
Wherein the first and second variable speed drive units apply motor drive state data indicating a drive state of a motor for driving the fixed thruster and the variable thruster to the direction control unit, .
The method of claim 6,
The direction control unit collects the thruster driving state detection data from the first and second local thruster control units and the motor driving state data from the first and second variable speed driving units and provides them to the monitoring control unit, Wherein the driving state of the motor for driving the fixed thruster, the variable thruster, and the thruster is monitored.
The method of claim 6,
The first and second variable speed drive units apply motor drive state data indicating the drive state of the motor for driving the fixed thruster and the variable thruster to the direction determination unit so that the direction determination unit sets the drive state of the thruster drive motor as Wherein the direction of the hull is determined to reflect the direction of the hull.
The method of claim 9,
The monitoring /
An integrated control terminal for monitoring and controlling all the driving situations of the hull position control system by receiving all data related to the hull position control situation applied from the direction control unit;
And a backup thruster control terminal for backing up and storing all data related to the hull position control and performing the hull position manual control function of the command unit in place of the user's request.
The method according to claim 1,
In the variable thruster,
A propeller is provided inside the duct and is coupled to the bottom of the hull through a support, and the motor is driven to rotate the support so that the duct and the propeller are adjusted in the left and right direction of the ship at corresponding angles Wherein the propulsion direction is adjusted and a drive shaft provided in the support is driven by a motor to rotate the propeller so as to generate propulsion forces in the forward and backward directions.
The method according to claim 1,
Wherein the fixed thruster comprises:
A propeller is provided at both ends of a duct in the form of a tunnel, and the upper end surface of the duct is fixed in contact with the bottom of the hull, and the drive shaft is driven by a motor to rotate the propeller, Wherein the hull position control system is configured to generate propulsive force to the hull position control system in a floating offshore plant.
KR1020140150927A 2014-11-03 2014-11-03 Vessel Position Control System in Floating Offshore Plant KR20160051282A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020140150927A KR20160051282A (en) 2014-11-03 2014-11-03 Vessel Position Control System in Floating Offshore Plant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140150927A KR20160051282A (en) 2014-11-03 2014-11-03 Vessel Position Control System in Floating Offshore Plant

Publications (1)

Publication Number Publication Date
KR20160051282A true KR20160051282A (en) 2016-05-11

Family

ID=56026074

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020140150927A KR20160051282A (en) 2014-11-03 2014-11-03 Vessel Position Control System in Floating Offshore Plant

Country Status (1)

Country Link
KR (1) KR20160051282A (en)

Similar Documents

Publication Publication Date Title
JP5957695B2 (en) MOBILE BODY CONTROL DEVICE, HULLE CONTROL DEVICE, SHIP, MOBILE BODY CONTROL METHOD, AND MOBILE BODY CONTROL PROGRAM
EP2338785B1 (en) Systems and methods for orienting a marine vessel to enhance available thrust
US8417399B2 (en) Systems and methods for orienting a marine vessel to minimize pitch or roll
EP1775212A2 (en) Method for maneuvering a marine vessel and marine vessel
US20070017426A1 (en) Marine vessel maneuvering supporting apparatus, marine vessel including the marine vessel maneuvering supporting apparatus, and marine vessel maneuvering supporting method
EP1775211A2 (en) Method for positioning a marine vessel and marine vessel
JP6664171B2 (en) Ship control equipment
TW201513056A (en) A programmable automatic docking system
KR101380722B1 (en) System and method for dynamic positioning of vessel
CN103507938A (en) Power positioning system of platform supply ship
WO2014065147A1 (en) Method for controlling hull and device for controlling hull
JP2017088111A (en) Ship maneuvering control method and ship maneuvering control system
CN110254648A (en) A kind of control system for assisting ship entering and leaving port using DP
JP2023024675A (en) Route generating device
JP2021501724A (en) System for maneuvering a boat
US11573087B1 (en) Boat maneuvering control method for boat and boat maneuvering control system for boat
KR20160051282A (en) Vessel Position Control System in Floating Offshore Plant
JP4295645B2 (en) Automatic fixed point holding device for water jet propulsion ship
KR20170049893A (en) Propulsion control system for floating offshore plant
KR20170036258A (en) Vessel Heading Control System in Floating Offshore Plant
EP4342785A1 (en) A system for controlling movements of a marine surface vessel
US11104410B2 (en) Propeller-powered watercraft system and method of remote-controlled waterway navigation
EP3423910B1 (en) Maritime drift control system
KR101823027B1 (en) Dynamic positioning system of vessel and method thereof
JP2007145304A (en) Anchorless anchor system

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application