【作者】 张伟；

【导师】 孙丽萍；

【作者基本信息】 哈尔滨工程大学 ， 船舶与海洋结构物设计制造， 2016， 硕士

【摘要】 随着海洋石油开发越来越趋向于走向深海,海洋平台面临着越来越极端的海洋环境,传统锚泊定位和动力定位的定位形式也愈加的不能满足越来越深的工作水深和越来越恶劣的工作环境的要求。为此,锚泊辅助动力定位的出现,为深海油气开发提供了一种新的定位方式。与锚泊定位和动力定位相比,锚泊辅助动力定位具有定位精度高、机动性好、能够适应极端海况、安全性好的优势,在深海油气开发中,展示了良好的作业性能;同时,随着钻井作业的作业水深越来越深,钻井作业平台对可变载荷的要求越来越苛刻,钻井服务支持平台的概念在这种背景下孕育而出,半潜式平台由于其优良的性能成为钻井服务支持平台的首选。本文以某半潜式钻井服务支持平台为研究对象,针对锚泊辅助动力定位原理,编制了锚泊辅助动力定位分析程序,并在不同的工况下验证其定位能力。建立了适合于锚泊辅助动力定位的平台运动模型,包括平台的高频运动模型和低频运动模型;风载荷、流载荷采用经验公式的计算方法,基于Newman近似原理计算波浪二阶载荷;基于悬链线理论编制了锚泊系统的悬链线计算程序,并和商业软件AQWA对比,验证了程序的准确性;随后介绍和设计了粒子群优化推力分配方法和粒子群优化PID控制方法,并利用MATLAB平台他编制了其计算程序,通过具体算例验证了算法的可行性。针对半潜式钻井支持平台进行锚泊辅助动力定位的静态和动态定位能力分析,绘制了半潜式钻井支持平台的极限风速曲线,并对半潜式钻井支持平台进行基于准静态算法的时域动态分析,将结果与锚泊定位作对比,锚泊辅助动力定位能够良好控制半潜式钻井支持平台的位置,降低锚泊系统的受力,从数值上进一步验证了锚泊辅助动力定位的优越性。最后针对半潜式钻井支持平台钻井支持服务工况下的控位能力分析,对AQWA软件二次开发,设计了一套基于两作业平台重心相对坐标的PID控制方法,并将粒子群推力分配算法编入二次开发程序中,计算结果和锚泊定位相比,本文设计锚泊辅助动力定位程序能够较好的控制两个平台重心的相对位置。更多还原

【Abstract】 With the marine petroleum development tending towards deep sea, offshore platform is facing more and more extreme ocean environment, the positioning form of traditional mooring positioning and dynamic positioning are becoming increasingly unable to meet the working requirements of deep water depth and the increasingly harsh working environment.Therefore, the emergence of the mooring assisted dynamic positioning provides a new way for the location of deep-water oil and gas exploitation. Compared with the mooring positioning and dynamic positioning, the mooring assisted dynamic positioning has the advantages of high precision、good flexibility、adapting to the extreme sea conditions、good safety, showing good working performance in the deep sea oil and gas development; at the same time, with the water depth of drilling operation being more and more deep, the requirement of variable load of drilling platform is more and more rigorous. The concept of tender support drilling unit breeds out in this context,semi-submersible platform become the first choice for tender support drilling unit due to its excellent performance.In this paper,a tender support drilling unit is studied, analysis program of the mooring assisted dynamic positioning was programed due to the principle of mooring assisted dynamic positioning, and location capability was verified under different working conditions.The kinematic equation for the mooring assisted dynamic positioning, including motion equation of wave frequency and motion equation of low frequency ware established in this paper. Empirical formula was used to calculate the wind load, current load, and the Newman approximation theory was used to calculate wave two order load. the catenary mooring system calculation program was programed based on catenary theory, and then compared to the commercial software-Aqwa to verify the accuracy of the program, particle swarm optimization thruster allocation method and particle swarm optimization PID control method ware introduced and designed afterwards, and the algorithm was programed using MATLAB,the feasibility of the algorithm was verified through a specific numerical example.Static and dynamic positioning capacity of mooring assisted dynamic positioning of tender support drilling unit ware analyzed,the extreme wind speed curve of tender support drilling unit was drawing, and then tender support drilling unit was analyzed by time-domain algorithm based on quasi static dynamic. The results ware compared with the mooring,mooring assisted dynamic positioning can well control the position of tender support drilling unit, reduce the stress of the mooring system, numerically further verify the superiority of the mooring assisted dynamic positioning.The Aqwa software was second redeveloped aimed at the analysis of positioning ability of service condition of the semi-submersible tender support drilling unit,a PID control method based on the two platform center of gravity relative coordinates was designed, the particle swarm thrust allocation algorithm was incorporated into the second redeveloped program. Compared to mooring, the calculation results show that the mooring assisted dynamic positioning program of this paper designed can better control the relative gravity center position of two platforms.更多还原