动力定位平台协同运动控制与栈桥运动响应研究  

Cooperative motion control of dynamic positioning platforms and motion responses analysis of a gangway

作　　者：张铎 王磊[1,2] 李博 贺华成[1] ZHANG Duo;WANG Lei;LI Bo;HE Huacheng(State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai 200240, China)

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200240 [2]高新船舶和深海开发协同创新中心,上海200240

出　　处：《海洋工程》2019年第5期16-27,共12页The Ocean Engineering

基　　金：中国博士后科学基金(2017M621479);海洋工程国家重点实验室开放基金(1717);工信部高技术船舶科研项目([2016]546);工信部课题“第七代半潜平台模型试验及技术研究”

摘　　要：随着海上油气开采作业及海上风电运维项目对于人员安全性、舒适性提出的越来越高的要求,生活支持平台应运而生。生活支持平台与生产平台通过栈桥连接。如何在复杂的海洋环境中保持栈桥的安全性,对于保障人员生命安全,尽可能地延长作业时间以及节约项目运营成本都有着重要意义。针对一座配备动力定位系统的生活支持平台和一座锚泊辅助动力定位的生产平台以及它们之间搭载的栈桥展开研究。设计了基于一致性算法的跟踪控制器,以实现两平台间的协同运动控制,使两平台间的距离不超过栈桥的可伸缩长度范围。在此基础上,研究不同环境载荷方向下栈桥的运动响应情况。当环境载荷方向从0°变化到90°时,伸缩量和变幅角增大,而回转角减小,它们变化的频率也存在一定差异,其中回转角对于环境载荷方向的变化最为敏感。The standard of safety and comfort on marine oil and gas exploitation, and on offshore wind farm operation and maintenance has been raised, leading to the emergence of accommodation support platform(ASP). The ASP is connected with a product platform by a telescopic gangway that provides accessibility of walk-to-work for stuffs. It is crucial to make sure that the gangway is safe under the complicated ocean environment, and can not only guarantee life security of people but also maximize the uptime and save the costs of a project. The study is conducted for an ASP equipped with a dynamic positioning (DP) system, a mooring-assisted dynamic positioning product platform and a gangway between them. A tracking controller based on consensus method is designed to achieve the goal of cooperative motion control of the two platforms so that the stroke of the gangway is within its safety range. Then the motion responses including expansion amount and angle of the gangway under different orientations of sea loads are investigated. When sea loads range from 0° to 90°, the length and the elevation angle of the gangway increase, while the azimuth angle decreases. Their frequency of variation differs, and the azimuth is most sensitive to the different orientations of sea loads.

关 键 词：动力定位 海洋平台 运动控制 栈桥连接 运动响应 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]