Research On Constructing Simulation Platform Of S-lay Vessel Tensioner And Mathematical Model Of Constant Tension

The submarine pipeline is a key part of the project of development and construction of the deepwater oil and gas field,Meanwhile,the complicated process and the harsh working environment place higher demands on operators in the process of pipelaying.Therefore,the studies on simulation system of deepwater pipelaying have important practical engineering value.The tensioner working as one of important equipments for laying submarine pipelines whose dynamic behaviors have a direct impact on pipelaying.So the actual operation training of tensioner is also a core part of the analog system of pipelaying simulation.The object of this paper is the tensioner of the pipelaying vessel “HYSY201”.Based on physics characteristics of tensioner,the simulation system of tensioner is constructed by utilizing semi-physical simulation technology and virtual instrument technology which works on training the operators of tensioner,reducing the risk of operation training of real ship and enhancing the efficiency and safety of pipelaying operation.The main research tasks are as follows:(1)The overall design of simulation platform is confirmed as well as the console of tensioner is constructed basing on the principle of tensioner and the functional requirement of the simulation platform.The control command of the console of tensioner and the analog signal of angular displacement sensor are collected by making use of visual instrument technology.On this basis,combined with the technological process of tensioner,the software development of simulation platform is completed so that the man-machine interface and simulation data smoothing are achieved and so do the display and storage of simulation data.Aim at the real-time of the main system of pipelaying simulation,the real-time data transferring between the simulation platform and the main system of pipelaying simulation is achieved by UDP communication technology.Finally,the work and operation process of tensioner can be simulated dynamically.(2)According to the characteristics of constant tension control of real ship,the research on constant tension control basing on the driving of variable frequency motor is carried out by using the double closed loop control of force and speed.According to the characteristics of S-lay,the model of calculation of the setting tension is built through the method of natural catenary.The models of inverter asynchronous ac motor and track system are established respectively basing on the correlation theory of electromechanics and physics characteristics of tensioner.On this basis the simulation of constant tension control is implemented with Matlab/Simulink.The dynamic response of pipeline under the different water depth is analyzed by the engineering measured data so that the simulation model is further modified.(3)The joint test of pipelaying simulation is conducted combining with each subsystem of pipelaying simulation.The simulation platform of tensioner ran stably,visual images showed smoothly and the real-time comunication was fast and accurate.According to specific cases of pipelaying and measured data,the pipelaying simulation is implemented in the different sea states to verify the feasibility of the overall design of simulation platform and the actual control effects of constant tension system.The experimental results show that the working environment of tensioner used for real ship and working characteristics can be simulated factually which meets the actual requirements of simulation training.