Development of Installation Technique of Flexible Ocean Structure into Deepsea

在海上开发越来越深的水域中，一项关键技术将是遥控安装和建造柔性结构。柔性来自于结构的大型化或结构的轻量化。常规的海面作业取决于天气条件，效率不高。发展了弹性结构遥控安装的基本技术。回顾了结构弹性反应控制的研究现状。开发了一种以LAC/HAC为主的控制技术。该方法通过直接速度反馈(DVFB)稳定弹性响应，控制主要的弹性和刚体响应，并通过计算机仿真和柔性结构模型的水池试验验证了所提出的控制方法。实验模型由25个刚性圆柱体组成，每个圆柱体通过细长的横梁与相邻的圆柱体相连。将模型从测试盆地上的初始位置抬起，拖到另一个地方，将航向改变到预定方向并放置在预定位置。

One key technology in the offshore development of increasingly deeper water will be remotely operated installation and construction of flexible structure. The flexibility comes from large scale of the structure or weight reduction of the structure. Conventional operation from the sea surface depends on the weather condition and not so efficient. Basic technique of remotely operated installation of elastic structure was developed. After review on the control of elastic response of structures. A control technique basically LAC/HAC was developed. In the technique, the elastic response is stabilized by DVFB (Direct Velocity Feedback) and major elastic and rigid body response is controlled.The formulated control is verified by computer simulation and basin test using a model of a flexible structure. The experimental model consists of 25 rigid cylinders and each cylinder is connected to adjacent cylinders by slender beams. The model is lifted from initial position on the test basin and towed to another place and heading is changed to a predetermined direction and placed on predetermined position.