A Possibility of Active Controlled Installation for Deep Water Subsea Production Modules
A Possibility of Active Controlled Installation for Deep Water Subsea Production Modules
复制标题
深水海底生产模块主动控制安装的可能性
DOI：
10.1109/icetet.2012.75
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Keisuke Watanabe
中科院分区：
文献类型：
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作者：
Keisuke Watanabe
海上油气开发的水深越来越深，在一些油田，如巴西近海盐下，目标水深一般都在2000 m以上。尽管盐下深水油田有几种新技术有待开发，但如何有效准确地安装SPS模块的新方法是最需要的挑战之一。在本文中，我将提出一种可能性，使用主动控制技术的深水安装使用起重机船。SPS模块结构由一个摆系统组成，其臂长随着悬挂结构下降到海床而变长。与垂直轴的初始偏移角将导致振动运动，其水平振幅在安装期间根据时间发展。推导了二维运动方程，并给出了自由悬挂和主动控制两种情况下的仿真结果。控制算法是LQR和一个附加到结构作为执行器，以抑制振动运动安装在海床上的所需的目标点的结构假设。
The water depth of the offshore oil/gas development becomes deeper, and in some field like offshore Brazil pre-salt, the target water depth is generally more than 2000m. Although there are several new technologies to be developed for the pre-salt deep water field, a new method how to install a SPS module effectively and precisely is one of the most desired challenges. In this paper, I will present a possibility of using active control technique for deep water installation using a crane vessel. The SPS module structure consists of a pendulum system whose arm length is becoming longer as the hanged structure is going down to the sea bed. An initial offset angle from the vertical axis will cause a vibration motion whose horizontal amplitude develops according to time during installation. Two dimensional equation of motion is derived and several simulation results will be shown for the cases of both free hanging situation and actively controlled situation. The control algorithm is LQR and a ROV is assumed attached to the structure as an actuator to suppress the vibratory motion to install the structure on the desired target point on the sea bed.