다물체 동역학 기반 비례미분 제어기를 이용한 해양구조물 설치 안정성 해석

Abstract

In this paper, safety analysis of the process of installing offshore structures such as manifolds and jacket-type substructures using floating cranes and barges in waves is performed. The safety analysis consists of three components. First, the dynamic responses of the offshore structure, cranes, and barge, all of which are moored and connected using wire ropes, are analyzed. Second, tensions in the wire ropes connecting the cranes and the offshore structures are calculated. Finally, any collision between the offshore structure and the cranes or the barge that transports the offshore structure is detected. Equations of motion of the offshore structure, cranes, and barge are formulated based on multibody dynamics, as well as considering the hydrostatic, hydrodynamic, and mooring forces. Additionally, proportionalderivative control of the tagline between the cranes and the offshore structure is performed to verify the safety of the installation process, as well as for reducing the dynamic response and collisions among them.st, the dynamic responses of the offshore structure, cranes, and barge, all of which are moored and connected using wire ropes, are analyzed. Second, tensions in the wire ropes connecting the cranes and the offshore structures are calculated. Finally, any collision between the offshore structure and the cranes or the barge that transports the offshore structure is detected. Equations of motion of the offshore structure, cranes, and barge are formulated based on multibody dynamics, as well as considering the hydrostatic, hydrodynamic, and mooring forces. Additionally, proportionalderivative control of the tagline between the cranes and the offshore structure is performed to verify the safety of the installation process, as well as for reducing the dynamic response and collisions among them.