S型铺管瞬态张力对动力定位控制的影响（英文）

Transient Pipe Tension Influence on Dynamic Positioning Control During S-Lay Installation

铺管船动力定位能力和张紧器能力通常基于静态管线张力或者采用一定动力放大系数进行评估,忽略了管线张力动态的影响.本文集成PID动力定位控制和卡曼滤波,充分考虑管线-辊筒接触及管线-铺管船耦合,发展了一种S型铺管作业的闭环自动控制数值模型.时域数值结果对比分析表明:动力定位推力动态耦合效应显著,亦证明了管线张力的瞬态效应对深水S型铺管作业动力定位评估影响深远,且基于静态管线张力评估张紧器能力将会高估.

Traditionally,dynamic positioning(DP)capability and tensioner capability of a laying vessel are calculated by static tension while the dynamic effects are either ignored or taken into account by empirical load amplification factors.A coupled dynamic model of normal S-lay was developed to simulate the closed-loop automatic control process integrating with DP controller.The model sufficiently takes account of the pipeline-rollers contact and the coupling between the pipeline and the controlled surface vessel.By conducting dynamic simulation in time domain and comparing the results achieved,significant coupled dynamic behaviours of applied DP thrust forces are observed,which offers very intuitive evidences of the transient tension effects concerning DP capacity assessment.And tensioner capacity based static results of the tension force would be overestimated.