阅读说明：本技术 一种基于原油转驳船的原油输送系统的动力定位方法 (Crude oil transfer barge based power positioning method for crude oil conveying system ) 是由 李�荣 吴承恩 阿恩·斯梅达 邹大鹏 张永康 陆华 王振刚 朱益锋 万家平 唐海军 于 2021-09-15 设计创作，主要内容包括：本发明公开了一种基于原油转驳船的原油输送系统的动力定位方法,将与CTV固定的引导缆固定于VLCC上,构建安全区域内的防拉断弹性控制模型；判断CTV是否在安全区域内,如果不在则通过CTV的定位调整系统通过防拉断弹性控制模型进行防拉断弹性控制;通过设置原油转驳船上的防拉断弹性控制模型,自适应的适当调整原油转驳船的位置以避免输油管被拉断,利用了原油转驳船的动力定位系统的推进能力,提高了原油转驳船和油轮之间稳定输油的抗风险能力,避免了再输油过程中由于风向和海流的影响导致输油过程出现风险。(The invention discloses a power positioning method of a crude oil conveying system based on a crude oil transfer barge, wherein a guide cable fixed with a CTV is fixed on a VLCC (very low cost communication channel) to construct a snap-off prevention elastic control model in a safety area; the method comprises the steps of judging whether a CTV is in a safe area, if not, carrying out anti-snapping elastic control through an anti-snapping elastic control model through a positioning adjustment system of the CTV, setting the anti-snapping elastic control model on a crude oil transfer barge, adaptively adjusting the position of the crude oil transfer barge to avoid the oil conveying pipe from being snapped, improving the risk resistance of stable oil conveying between the crude oil transfer barge and the oil tanker by utilizing the propelling capability of a dynamic positioning system of the crude oil transfer barge, and avoiding the risk of the oil conveying process caused by the influence of wind direction and ocean current in the oil re-conveying process.)

1. A method for dynamically positioning a crude oil transfer system based on a crude oil transfer barge, the method comprising the steps of:

s100, fixing a guide cable fixed with the CTV on the VLCC, connecting oil pipes between the FPSO and the CTV and between the CTV and the VLCC, wherein the oil pipe connecting the FPSO and the CTV is a first oil pipe, and the oil pipe connecting the CTV and the VLCC is a second oil pipe;

s200, when the FPSO starts oil transportation through an oil transportation path, transferring oil from the CTV to the VLCC through a first oil pipe and a second oil pipe, and dividing a safety zone between the CTV and the VLCC; the oil transportation path is that the FPSO transports oil to the CTV through a first oil pipe, and the CTV transports the oil to the VLCC through a second oil pipe;

s300, constructing an anti-snapping elastic control model in a safety area;

s400, judging whether the CTV is in a safety area, and if not, performing anti-snap elastic control through an anti-snap elastic control model by a positioning adjustment system of the CTV;

in S200, the method for dividing the safety region between the CTV and the VLCC includes:

at the moment of starting oil transportation of FPSO, the central position of VLCC is set as the center O_BWith O_BThe maximum radius R is the distance to the farthest position on the hull of the VLCC ship_BOr taking the radius of an external sphere of the VLCC ship as R_BWith O_BAs a circle center, R_BThe circle area with radius is used as the safety area of VLCC, and the central position of CTV is used as the center of circle O_CWith O_CThe distance from the farthest distance position on the CTV ship body is the maximum radius R_cOr taking the radius of the circumscribed sphere of the CTV as R_cWith O_CAs a circle center, R_cTaking a circular region with a radius as a safety region of the CTV, taking a safety region of the VLCC as SAFEVs and SAFECs of the CTV, taking a complementary set of the SAFEVs in the SAFECs as a safety region between the CTV and the VLCC, and simply taking the safety region between the CTV and the VLCC as the safety region;

in S300, the method for constructing the stretch-break-resistant elastic control model includes:

s301, let C be the position of the geometric center point of CTV, B be the position of the geometric center point of VLCC, P be the position of the geometric center point of FPSO, O represent the center of a circle, and O is used as_pRepresenting the geometric centre position of the FPSO, T representing the bow position or the tip position, G representing the tubing joint position, R being the equivalent radius or R being half the distance from the bow position to the tubing joint, J representing the longitude, W representing the latitude, a representing the heading angle, J, W, A with subscript P, B, C representing the longitude, latitude and angle, respectively, of the position of P, B, C;

s302, using the position of the point P as a reference position O_{p radical}(J_{P radical},W_{P radical}) The method for correcting the position information of the C, B point in real time comprises the following steps: measuring O in real time_p、O_C、O_BThe positions are respectively as follows: o is_{Fruit of Pishi}(J_{Fruit of Pishi},W_{Fruit of Pishi})、O_{Fruit of C}(J_{Fruit of C},W_{Fruit of C})、O_{Fruit of B}(J_{Fruit of B},W_{Fruit of B}) And a heading angle A_{Fruit of C}、A_{Fruit of B}Wherein, J_{Fruit of Pishi}、W_{Fruit of Pishi}Respectively representing P points acquired in real timeDegree and latitude position, J_{Fruit of C}、W_{Fruit of C}Respectively representing the longitude and latitude positions of the C point acquired in real time, J_{Fruit of B}、W_{Fruit of B}Respectively representing the longitude and latitude positions of the B point acquired in real time, let A_{Fruit of C}、A_{Fruit of B}Respectively representing real-time collected heading angles of a point C and a point B;

the position information of point C, B is corrected in real time to be、：

，

；

Wherein, Delta J_P= J_{Fruit of Pishi}﹣J_P，△W_P=W_{Fruit of Pishi}﹣W_P；

Wherein the reference position data O_{p radical}(J_P,W_P) The acquisition mode is as follows: calculating a time period T = T2-T1 with the time to start oil transportation as T1 and the time to exit the safe region of the CTV as T2; the initial course angle of the CTV at the time of starting oil transportation is A_{C initial stage}Initial course angle of VLCC at the time of starting oil transportation is A_{Beginning of B}；

Monitoring O of P point in recent time period t_{Fruit of Pishi}(J_{Fruit of Pishi},W_{Fruit of Pishi}) Position is given to O_pPosition set A, eliminating each O when the CTV position in A is not in the safe area_pPosition element, calculating the arithmetic mean of each position in the A element as O_{p radical}(J_P,W_P)；

S303, setting the first constraint relation as: r_C+R_B+D1≤≤R_C+R_B+ D2, wherein,is composed ofToThe parameter D1 is the minimum elastic distance, the parameter D2 is the maximum elastic distance, and the values of D1 and D2 are obtained by the following steps:

the fixed position point of the guide cable and the CTV is a first end point, and the fixed position point of the guide cable on the VLCC is a second end point;

recording the initial course angle of the CTV as A_{C initial stage}In an azimuth of A_{C initial stage}When the included angle between the projection straight line of the longitudinal axis of the carrier of the CTV on the horizontal plane and the straight line L1 from the first end point to the second end point is delta a1, the first end point at the moment is recorded as a CTV elastic reference point PC, the second end point at the moment is recorded as a VLCC elastic reference point PB,

collecting all course angles A of CTV in the latest time period t_{Fruit of C}Obtaining an aggregate A1, and enabling a heading angle delta maxCV to be the largest angle of the aggregate A1 and a heading angle delta MinCV to be the smallest angle of the aggregate A1;

collecting all course angles A of VLCC in the latest time period t_{Fruit of B}Obtaining an aggregate A2, and enabling a heading angle delta maxBV to be the largest angle of the aggregate A2 and a heading angle delta MinBV to be the smallest angle of A2;

when the heading angle is delta maxCV, an included angle between a projection straight line of a longitudinal axis of the carrier of the CTV on a horizontal plane and a straight line L2 connecting a first end point to a second end point is delta a2, a point recording the position of the first end point on L2 at this time is PC1, and a projection point of the point PC1 on L1 is PCJ 1; the Euclidean distances from the point PC1 to the point PC, from the point PC1 to the point PCJ1 and from the point PC to the point PCJ1 are DC1, DC2 and DC3 respectively; TempC1= Min (DC1, DC2, DC3) was calculated; wherein the Min function is the minimum value of each element in the bracket;

when the heading angle is delta MinCV, making an included angle between a projection straight line of a longitudinal axis of the carrier of the CTV on a horizontal plane and a straight line L3 connecting a first end point to a second end point be delta a3, recording a point of the position of the first end point on L3 at the time as PC2, and taking a projection point of the point PC2 on L1 as PCJ 2; the Euclidean distances from the point PC2 to the point PC, from the point PC2 to the point PCJ2 and from the point PC to the point PCJ2 are DC4, DC5 and DC6 respectively; TempC2= Max (DC4, DC5, DC6) was calculated; the Max function is the maximum value of each element in the brackets;

when the heading angle is Δ maxBV, making an included angle between a projection straight line of a longitudinal axis of the carrier of the VLCC on a horizontal plane and a straight line L4 connecting a first end point to a second end point be Δ a4, recording a point of a position of the second end point on L4 at this time as PB1, and taking a projection point of the point PB1 on L1 as PBJ 1; the Euclidean distances from the point PB1 to PB, from the point PB1 to the point PBJ1 and from the point PB to the point PBJ1 are DB1, DB2 and DB3 respectively; TempB1= Min (DB1, DB2, DB3) is calculated;

when the heading angle is Δ MinBV, making an included angle between a projection straight line of a longitudinal axis of the carrier of the VLCC on a horizontal plane and a straight line L5 connecting a first end point to a second end point be Δ a5, recording a point of a position of the second end point on L5 at this time as PB2, and taking a projection point of the point PB2 on L1 as PBJ 2; the Euclidean distances from the point PB2 to PB, from the point PB2 to the point PBJ2 and from the point PB to the point PBJ2 are DB4, DB5 and DB6 respectively; TempB2= Max (DB2, DB2, DB3) was calculated;

D1=Min(TempC1、TempC2、TempB1、TempB2)；

D2=Max(TempC1、TempC2、TempB1、TempB2)；

let the first constraint relation be the anti-snapping elastic control model.

2. The dynamic positioning method for crude oil transportation system based on crude oil transfer barge according to claim 1, wherein in S100, the guiding cable is a ship cable or a ship cable, and the oil pipe is any one of a ship oil hose, a ship heavy oil transportation composite hose, a standard oil transportation composite hose, a heavy oil transportation composite hose, a light composite hose, a 1-8 inch oil transportation composite hose, a ship petroleum handling chemical composite hose, an oil handling chemical composite hose, a ship multipurpose oil transportation composite hose, a ship handling oil transportation composite hose, a special port-oil field oil transportation composite hose, an anti-static oil transportation composite hose, a wharf oil transportation composite hose, an overbooking composite hose, a high temperature composite hose, and a composite hose.

3. The dynamic positioning method for crude oil transfer system based on crude oil transfer barge according to claim 1, wherein in S400, the method for performing anti-snap elasticity control through the anti-snap elasticity control model by the positioning adjustment system of CTV comprises:

the CTV positioning adjustment system carries out real-time dynamic positioning; real-time monitoring of current CTV and barge center point correction distanceIf it is presentIf the first constraint relation is met, the positioning adjustment system starts the CTV to move towards the direction far away from the barge so as to return to the safe area;

if it is currentIf the first constraint relation is not met, the positioning adjustment system starts the CTV to move towards the direction far away from the barge so that the CTV returns to the safe area range, and simultaneously starts to stop the oil transportation operation, closes the oil transportation pump and pushes dangerous information to the mobile equipment of the administrator.

4. The method of claim 1, wherein in S400 the alignment adjustment system is a mooring positioning system or a dynamic positioning system disposed on the CTV.

5. The dynamic positioning method for crude oil transfer barge-based crude oil transportation system according to claim 3, wherein the method for anti-snap elasticity control through the anti-snap elasticity control model by the positioning adjustment system of the CTV in S400 further comprises:

constructing a second constraint relation:；

△1=Min(△a2、△a3、△a4、△a5)；

△2=Max(△a2、△a3、△a4、△a5)；

wherein the content of the first and second substances,the corrected course angle information of the CTV is obtained;；

deviation of azimuth angle during CTV moving towards direction far away from barge is delta A_B；

△A_B=Min(|A_{Fruit of B}-△a1|、|A_{Fruit of B}-△a2|、|A_{Fruit of B}-△a3|、|A_{Fruit of B}-△a4|、|A_{Fruit of B}-△a5|)；

And the second constraint relation is required to be met in the motion process of starting the CTV motion by the CTV positioning adjustment system.

Technical Field

The disclosure belongs to the field of barge transfer and power positioning, and particularly relates to a power positioning method of a crude oil conveying system based on a crude oil barge transfer.

Background

The design purpose of the CTV (Cargo Transfer Vessel, crude oil Transfer barge, crude oil Transfer unit/crude oil Transfer ship) is to reduce the oil unloading cost of FPSO (floating production storage tanker, floating liquefied natural gas production storage and unloading unit, deep sea oil production platform), and to reduce the mode of "FPSO + CTV + VLCC" developed by the union of south-bound middle and far shipping affairs and Guangdong middle and far shipping affairs under the middle and far sea transportation heavy industry flag, namely: FPSO processed crude oil is refuted by a CTV topside loading system and the CTV unloads crude oil to VLCC (supertanker, tanker) by a crude oil export system.

However, in the oil transfer in the three-in-one mode, the oil pipe and the cable connecting each facility are fragile relative to the huge ship size, and the oil pipe is easily broken due to the relative fixation of the FPSO platform and the relative fixation of the CTV through dynamic positioning, but the barge is not fixed, so that a control mode for automatically and dynamically adjusting the position of the CTV is required to ensure the safety of the oil pipe and the oil transfer safety of the CTV in order to solve the problems of high wind and wave, variable environment and the like of the marine environment.

Disclosure of Invention

The invention aims to provide a dynamic positioning method of a crude oil conveying system based on a crude oil transfer barge, which solves one or more technical problems in the prior art and provides at least one beneficial selection or creation condition.

To achieve the above object, according to one aspect of the present disclosure, there is provided a dynamic positioning method of a crude oil transfer system based on a crude oil transfer barge, the method comprising the steps of:

s100, fixing a guide cable fixed with the CTV on the VLCC (namely, one end of the guide cable is fixed with the CTV, and the other end of the guide cable is fixed with the VLCC), connecting oil pipes between the FPSO and the CTV and between the CTV and the VLCC, wherein the oil pipe connecting the FPSO and the CTV is a first oil pipe, and the oil pipe connecting the CTV and the VLCC is a second oil pipe;

s200, when the FPSO starts oil transportation through an oil transportation path, transferring oil from the CTV to the VLCC through a first oil pipe and a second oil pipe, and dividing a safety zone between the CTV and the VLCC; the oil transportation path is that the FPSO transports oil to the CTV through a first oil pipe, and the CTV transports the oil to the VLCC through a second oil pipe;

s300, constructing an anti-snapping elastic control model in a safety area;

s400, judging whether the CTV is in a safe area, and if not, performing anti-snap elastic control through an anti-snap elastic control model by a positioning adjustment system of the CTV.

The positioning adjustment system is a dynamic positioning system, the dynamic positioning system is a DP3 dynamic system, and the dynamic positioning system adopts a thruster to provide environmental force resisting wind, waves, currents and the like acting on the ship, so that the ship is kept at a required position on the sea level as far as possible.

Further, in S100, the CTV is a crude oil transfer barge, the FPSO is a deep sea production platform, and the VLCC is a tanker.

Further, in S100, the guiding cable is a ship cable or a ship cable, and the oil pipe is any one of a ship oil hose, a ship heavy oil transportation composite hose, a standard oil transportation composite hose, a heavy oil transportation composite hose, a light composite hose, a 1-8 inch oil transportation composite hose, a ship petroleum handling chemical composite hose, an oil transportation chemical composite hose, a ship multipurpose oil transportation composite hose, a ship handling oil transportation composite hose, a special port-oil field oil transportation composite hose, an anti-static oil transportation composite hose, a wharf oil transportation composite hose, an overbooking composite hose, a high temperature resistant composite hose, and a composite hose.

Further, in S200, the method for dividing the safety area between the CTV and the VLCC is as follows:

at the moment of starting oil transportation of FPSO, the central position of VLCC is set as the center O_BWith O_BThe maximum radius R is the distance to the farthest position on the hull of the VLCC ship_BOr taking the radius of an external sphere of the VLCC ship as R_BWith O_BAs a circle center, R_BThe circle area with radius is used as the safety area of VLCC, and the central position of CTV is used as the center of circle O_CWith O_CThe distance from the farthest distance position on the CTV ship body is the maximum radius R_cOr taking the radius of the circumscribed sphere of the CTV as R_cWith O_CAs a circle center, R_cA circular region having a radius is used as a safety region of the CTV, a safety region of the VLCC is used as SAFEV, a safety region SAFEC of the CTV, and a complementary set of SAFEV in the SAFEC (i.e., a region included in the SAFEC but not included in the SAFEV) is used as a safety region between the CTV and the VLCC, and hereinafter, the safety region between the CTV and the VLCC is simply referred to as a safety region.

Further, in S300, the method for constructing the stretch-breaking-prevention elastic control model includes:

when the CTV is out of the safe area, the oil filling pipe is at risk of being pulled apart, and at this time, because the VLCC and the CTV are transporting oil, the weight of the CTV or the VLCC ship body changes, so that the position stability of the ship body is slightly unbalanced, and the position is slightly shifted, so that the CTV is required to perform position fine adjustment for anti-pulling apart control, and the control method is as follows:

s301, let C be the position of the geometric center point of CTV, B be the position of the geometric center point of VLCC, P be the position of the geometric center point of FPSO, O represent the center of a circle, and O is used as_pIndicates the geometric center position of the FPSO, T indicates the bow position or the tip position, G indicates the tubing joint position, R is the equivalent radius (half the equivalent spherical diameter) or R is half the bow-to-tubing joint distance, J indicates the longitude, W indicates the latitude, a indicates the heading angle, J, W, A with subscript P, B, C indicates the longitude, latitude and angle, respectively, of the P, B, C position (e.g., J indicates the longitude, latitude and angle, respectively_P，W_PLongitude and latitude representing point P);

s302, using the position of the point P as a reference position O_{p radical}(J_{P radical},W_{P radical}) The method for correcting the position information of the C, B point in real time comprises the following steps: measuring O in real time_p、O_C、O_BPosition: o is_{Fruit of Pishi}(J_{Fruit of Pishi},W_{Fruit of Pishi})、O_{Fruit of C}(J_{Fruit of C},W_{Fruit of C})、O_{Fruit of B}(J_{Fruit of B},W_{Fruit of B}) And a heading angle A_{Fruit of C}、A_{Fruit of B}Wherein, J_{Fruit of Pishi}、W_{Fruit of Pishi}Respectively representing the longitude and latitude positions of the P points acquired in real time, J_{Fruit of C}、W_{Fruit of C}Respectively representing the longitude and latitude positions of the C point acquired in real time, J_{Fruit of B}、W_{Fruit of B}Respectively representing the longitude and latitude positions of the B point acquired in real time, let A_{Fruit of C}、A_{Fruit of B}Respectively representing real-time collected heading angles of a point C and a point B;

the position information of point C, B is corrected in real time to be、：

，

；

Wherein, Delta J_P= J_{Fruit of Pishi}﹣J_P，△W_P=W_{Fruit of Pishi}﹣W_P；

Reference position data O_{p radical}(J_P,W_P) The acquisition mode is as follows: calculating a time period T = T2-T1 from a time T2 when the CTV departs from the safe region, starting from a time T1 when oil transportation is started; the initial course angle of the CTV at the time of starting oil transportation is A_{C initial stage}Initial course angle of VLCC at the time of starting oil transportation is A_{Beginning of B}；

Monitoring O of P point in recent time period t_{Fruit of Pishi}(J_{Fruit of Pishi},W_{Fruit of Pishi}) Obtaining a position set A, eliminating each position element of the CTV position in the A, which is not in the safety area, and calculating the arithmetic mean value of each position in the A element as O_{p radical}(J_P,W_P) Stabilizing the safety interval with the reference position to perform real-time position correction;

s303, setting the first constraint relation as: r_c+R_B+D1≤≤R_c+R_B+ D2, wherein,is composed ofToThe parameter D1 is the minimum elastic distance, the parameter D2 is the maximum elastic distance, and the values of D1 and D2 are obtained by the following steps:

the fixed position point of the guide cable and the CTV is a first end point, and the fixed position point of the guide cable on the VLCC is a second end point;

recording the initial course angle of the CTV as A_{C initial stage}When the included angle between the projection straight line of the longitudinal axis of the carrier of the CTV on the horizontal plane and the straight line L1 from the first end point to the second end point is delta a1, the first end point at the moment is recorded as a CTV elastic reference point PC, the second end point at the moment is recorded as a VLCC elastic reference point PB,

collecting all course angles A of CTV in the latest time period t_{Fruit of C}Obtaining an aggregate A1, and enabling a heading angle delta maxCV to be the largest angle of the aggregate A1 and a heading angle delta MinCV to be the smallest angle of the aggregate A1;

collecting all course angles A of VLCC in the latest time period t_{Fruit of B}Obtaining an aggregate A2, and enabling a heading angle delta maxBV to be the largest angle of the aggregate A2 and a heading angle delta MinBV to be the smallest angle of A2;

when the heading angle is delta maxCV, an included angle between a projection straight line of a longitudinal axis of the carrier of the CTV on a horizontal plane and a straight line L2 connecting a first end point to a second end point is delta a2, a point recording the position of the first end point on L2 at this time is PC1, and a projection point of the point PC1 on L1 is PCJ 1; the Euclidean distances from the point PC1 to the point PC, from the point PC1 to the point PCJ1 and from the point PC to the point PCJ1 are DC1, DC2 and DC3 respectively; TempC1= Min (DC1, DC2, DC3) was calculated; the Min function is a minimum value of each element in parentheses, for example, the value of Min (DC1, DC2, DC3) is a minimum value of DC1, DC2, DC 3; (maximum value of elastic distance to prevent the tubing at the CTV end from pulling off);

when the heading angle is delta MinCV, making an included angle between a projection straight line of a longitudinal axis of the carrier of the CTV on a horizontal plane and a straight line L3 connecting a first end point to a second end point be delta a3, recording a point of the position of the first end point on L3 at the time as PC2, and taking a projection point of the point PC2 on L1 as PCJ 2; the Euclidean distances from the point PC2 to the point PC, from the point PC2 to the point PCJ2 and from the point PC to the point PCJ2 are DC4, DC5 and DC6 respectively; TempC2= Max (DC4, DC5, DC6) was calculated; wherein, the Max function is to find the maximum value of each element in the brackets, for example, the value of Max (DC4, DC5, DC6) is the maximum value of DC4, DC5, DC 6; (minimum value of elastic distance to prevent the tubing at the CTV end from pulling off);

when the heading angle is Δ maxBV, making an included angle between a projection straight line of a longitudinal axis of the carrier of the VLCC on a horizontal plane and a straight line L4 connecting a first end point to a second end point be Δ a4, recording a point of a position of the second end point on L4 at this time as PB1, and taking a projection point of the point PB1 on L1 as PBJ 1; the Euclidean distances from the point PB1 to PB, from the point PB1 to the point PBJ1 and from the point PB to the point PBJ1 are DB1, DB2 and DB3 respectively; TempB1= Min (DB1, DB2, DB3) is calculated; for example, the value of Min (DP1, DP2, DP3) is the minimum of DB1, DB2, DB 3; (maximum value of elastic distance to prevent oil pipe pull-off at the VLCC end);

when the heading angle is Δ MinBV, making an included angle between a projection straight line of a longitudinal axis of the carrier of the VLCC on a horizontal plane and a straight line L5 connecting a first end point to a second end point be Δ a5, recording a point of a position of the second end point on L5 at this time as PB2, and taking a projection point of the point PB2 on L1 as PBJ 2; the Euclidean distances from the point PB2 to PB, from the point PB2 to the point PBJ2 and from the point PB to the point PBJ2 are DB4, DB5 and DB6 respectively; TempB2= Max (DB2, DB2, DB3) was calculated; (maximum value of elastic distance to prevent oil pipe pull-off at the VLCC end);

D1=Min(TempC1、TempC2、TempB1、TempB2)；

D2=Max(TempC1、TempC2、TempB1、TempB2)；

the first constraint relation is made to be an anti-snapping elastic control model.

Further, in S400, the method for performing the stretch-break prevention elastic control through the stretch-break prevention elastic control model by the positioning adjustment system of the CTV includes:

the CTV positioning adjustment system carries out real-time dynamic positioning; real-time monitoring of current CTV and barge center point correction distanceIf it is presentIf the first constraint relation (the anti-snapping elastic control model) is met, the positioning adjustment system starts the CTV to move towards the direction far away from the barge so as to enable the CTV to return to the range of the safe area;

if it is currentIf the first constraint relation is not met, the positioning adjustment system starts the CTV to move towards the direction far away from the barge so that the CTV returns to the safe area range, and simultaneously starts to stop the oil transportation operation, closes the oil transportation pump and pushes dangerous information to the mobile equipment of the administrator.

Further, in S400, the alignment adjustment system is a mooring positioning system or a dynamic positioning system disposed on the CTV.

Further, in S400, the method for performing anti-snap elasticity control through the anti-snap elasticity control model by the positioning adjustment system of the CTV further includes:

constructing a second constraint relation:；

△1=Min(△a2、△a3、△a4、△a5)；

△2=Max(△a2、△a3、△a4、△a5)；

wherein the content of the first and second substances,the corrected course angle information of the CTV is obtained;；

deviation of azimuth angle during CTV moving towards direction far away from barge is delta A_B；

△A_B=Min(|A_{Fruit of B}-△a1|、|A_{Fruit of B}-△a2|、|A_{Fruit of B}-△a3|、|A_{Fruit of B}-△a4|、|A_{Fruit of B}-△a5|)；

Or, Delta A_B=Min(A_{Fruit of B}-△a1、A_{Fruit of B}-△a2、A_{Fruit of B}-△a3、A_{Fruit of B}-△a4、A_{Fruit of B}-△a5)；

And the second constraint relation is required to be met in the motion process of starting the CTV motion by the CTV positioning adjustment system.

The beneficial effect of this disclosure does: the invention provides a crude oil transfer barge-based power positioning method of a crude oil conveying system, which is characterized in that a stretch-breaking-proof elastic control model on a crude oil transfer barge is arranged, the position of the crude oil transfer barge is adaptively and properly adjusted to avoid the stretch-breaking of an oil conveying pipe, the propelling capability of the power positioning system of the crude oil transfer barge is utilized, the risk resistance of stable oil conveying between the crude oil transfer barge and an oil tanker is improved, and the risk of the oil conveying process caused by the influence of wind direction and ocean current in the oil re-conveying process is avoided.

Drawings

The foregoing and other features of the present disclosure will become more apparent from the detailed description of the embodiments shown in conjunction with the drawings in which like reference characters designate the same or similar elements throughout the several views, and it is apparent that the drawings in the following description are merely some examples of the present disclosure and that other drawings may be derived therefrom by those skilled in the art without the benefit of any inventive faculty, and in which:

FIG. 1 is a flow diagram of a method for dynamic positioning of a crude oil transfer system based on a crude oil transfer barge;

FIG. 2 is a schematic diagram of the FPSO + CTV + VLCC fuel delivery mode.

Detailed Description

The conception, specific structure and technical effects of the present disclosure will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, aspects and effects of the present disclosure. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Fig. 1 is a flow chart of a method for dynamically positioning a crude oil transfer system based on a crude oil transfer barge, fig. 2 is a schematic diagram of an FPSO + CTV + VLCC oil transfer mode, and a method for dynamically positioning a crude oil transfer barge-based crude oil transfer system according to an embodiment of the present invention is described below with reference to fig. 1 and 2, and the method includes the following steps:

s100, fixing a guide cable fixed with the CTV on the VLCC, connecting oil pipes between the FPSO and the CTV and between the CTV and the VLCC, wherein the oil pipe connecting the FPSO and the CTV is a first oil pipe, and the oil pipe connecting the CTV and the VLCC is a second oil pipe;

s200, when the FPSO starts oil transportation through an oil transportation path, the first oil pipe and the second oil pipe are used for oil transportation to the VLCC through the CTV, and a safety area between the CTV and the VLCC is divided; the oil transportation path is that the FPSO transports oil to the CTV through a first oil pipe, and the CTV transports the oil to the VLCC through a second oil pipe;

s300, constructing an anti-snapping elastic control model in a safety area;

s400, judging whether the CTV is in a safe area, and if not, performing anti-snap elastic control through an anti-snap elastic control model by a positioning adjustment system of the CTV.

The positioning adjustment system is a dynamic positioning system, the dynamic positioning system is a DP3 dynamic system, and the dynamic positioning system adopts a thruster to provide environmental force resisting wind, waves, currents and the like acting on the ship, so that the ship is kept at a required position on the sea level as far as possible.

Further, in S100, the CTV is a crude oil transfer barge, the FPSO is a deep sea production platform, and the VLCC is a tanker.

Further, in S100, the guiding cable is a ship cable or a ship cable, and the oil pipe is any one of a ship oil hose, a ship heavy oil transportation composite hose, a standard oil transportation composite hose, a heavy oil transportation composite hose, a light composite hose, a 1-8 inch oil transportation composite hose, a ship petroleum handling chemical composite hose, an oil transportation chemical composite hose, a ship multipurpose oil transportation composite hose, a ship handling oil transportation composite hose, a special port, an oil field oil transportation composite hose, an anti-static oil transportation composite hose, a wharf oil transportation composite hose, an overbooking composite hose, a high temperature resistant composite hose, and a composite hose.

Further, in S200, the method for dividing the safety area between the CTV and the VLCC is as follows:

at the moment of starting oil transportation of FPSO, the central position of VLCC is set as the center O_BWith O_BThe maximum radius R is the distance to the farthest position on the hull of the VLCC ship_BOr taking the radius of an external sphere of the VLCC ship as R_BWith O_BAs a circle center, R_BCircular area of radius as safety area of VLCC with CTV centerThe position is a circle center O_CWith O_CThe distance from the farthest distance position on the CTV ship body is the maximum radius R_cOr taking the radius of the circumscribed sphere of the CTV as R_cWith O_CAs a circle center, R_cA circular region having a radius is used as a safety region of the CTV, a safety region of the VLCC is used as SAFEV, a safety region SAFEC of the CTV, and a complementary set of SAFEV in the SAFEC (i.e., a region included in the SAFEC but not included in the SAFEV) is used as a safety region between the CTV and the VLCC, and hereinafter, the safety region between the CTV and the VLCC is simply referred to as a safety region.

Further, in S300, the method for constructing the stretch-breaking-prevention elastic control model includes:

when the CTV is out of the safe area, the oil filling pipe is at risk of being pulled apart, and at this time, because the VLCC and the CTV are transporting oil, the weight of the CTV or the VLCC ship body changes, so that the position stability of the ship body is slightly unbalanced, and the position is slightly shifted, so that the CTV is required to perform position fine adjustment for anti-pulling apart control, and the control method is as follows:

s301, let C be the position of the geometric center point of CTV, B be the position of the geometric center point of VLCC, P be the position of the geometric center point of FPSO, O represent the center of a circle, and O is used as_pIndicates the geometric center position of the FPSO, T indicates the bow or tip, G indicates the pipe joint, R is the equivalent radius (half the equivalent spherical diameter), J indicates the longitude, W indicates the latitude, a indicates the heading angle, J, W, A with subscripts P, B, C indicates the longitude, latitude and angle, respectively, of the position of P, B, C (e.g., J indicates the longitude, latitude and angle of the position of the vessel), and_P，W_Plongitude and latitude representing point P);

s302, using the position of the point P as a reference position O_{p radical}(J_{P radical},W_{P radical}) The method for correcting the position information of the C, B point in real time comprises the following steps: measuring O in real time_p、O_C、O_BPosition: o is_{Fruit of Pishi}(J_{Fruit of Pishi},W_{Fruit of Pishi})、O_{Fruit of C}(J_{Fruit of C},W_{Fruit of C})、O_{Fruit of B}(J_{Fruit of B},W_{Fruit of B}) And a heading angle A_{Fruit of C}、A_{Fruit of B}Wherein, J_{Fruit of Pishi}、W_{Fruit of Pishi}Respectively representing P points acquired in real timeLongitude and latitude position, J_{Fruit of C}、W_{Fruit of C}Respectively representing the longitude and latitude positions of the C point acquired in real time, J_{Fruit of B}、W_{Fruit of B}Respectively representing the longitude and latitude positions of the B point acquired in real time, let A_{Fruit of C}、A_{Fruit of B}Respectively representing real-time collected heading angles of a point C and a point B;

the position information of point C, B is corrected in real time to be、：

，

；

Wherein, Delta J_P= J_{Fruit of Pishi}﹣J_P，△W_P=W_{Fruit of Pishi}﹣W_P；

Reference position data O_{p radical}(J_P,W_P) The acquisition mode is as follows: calculating a time period T = T2-T1 from a time T2 when the CTV departs from the safe region, starting from a time T1 when oil transportation is started; the initial course angle of the CTV at the time of starting oil transportation is A_{C initial stage}Initial course angle of VLCC at the time of starting oil transportation is A_{Beginning of B}；

Monitoring O of P point in recent time period t_{Fruit of Pishi}(J_{Fruit of Pishi},W_{Fruit of Pishi}) Obtaining a position set A, eliminating each position element of the CTV in the A when the position is not safe, and calculating the arithmetic mean value of each position in the A element as O_{p radical}(J_P,W_P) Thereby obtaining J_PAnd W_PStabilizing the safety interval with the reference position to perform real-time position correction;

s303, setting the first constraint relation as: r_C+R_B+D1≤≤R_C+R_B+ D2, wherein,is composed ofToThe parameter D1 is the minimum elastic distance, the parameter D2 is the maximum elastic distance, and the values of D1 and D2 are obtained by the following steps:

the fixed position point of the guide cable and the CTV is a first end point, and the fixed position point of the guide cable on the VLCC is a second end point;

recording the initial course angle of the CTV as A_{C initial stage}When the included angle between the projection straight line of the longitudinal axis of the carrier of the CTV on the horizontal plane and the straight line L1 from the first end point to the second end point is delta a1, the first end point at the moment is recorded as a CTV elastic reference point PC, the second end point at the moment is recorded as a VLCC elastic reference point PB,

collecting all course angles A of CTV in the latest time period t_{Fruit of C}Obtaining an aggregate A1, and enabling a heading angle delta maxCV to be the largest angle of the aggregate A1 and a heading angle delta MinCV to be the smallest angle of the aggregate A1;

collecting all course angles A of VLCC in the latest time period t_{Fruit of B}Obtaining an aggregate A2, and enabling a heading angle delta maxBV to be the largest angle of the aggregate A2 and a heading angle delta MinBV to be the smallest angle of A2;

when the heading angle is Δ maxCV, an included angle between a projection straight line of a longitudinal axis of the carrier of the CTV on a horizontal plane and a straight line L2 from a first end point to a second end point is Δ a2, and a projection point from a point of a position PC1 of the first end point on L2 to L1 at the time is recorded as PCJ 1; the Euclidean distances from the point PC1 to the point PC, from the point PC1 to the point PCJ1 and from the point PC to the point PCJ1 are DC1, DC2 and DC3 respectively; TempC1= Min (DC1, DC2, DC3) was calculated; the Min function is a minimum value of each element in parentheses, for example, the value of Min (DC1, DC2, DC3) is a minimum value of DC1, DC2, DC 3; (maximum value of elastic distance to prevent the tubing at the CTV end from pulling off);

when the heading angle is Δ MinCV, the included angle between the projection straight line of the longitudinal axis of the carrier of the CTV on the horizontal plane and the straight line L3 from the first end point to the second end point is Δ a3, and the projection point from the point of the position PC2 of the first end point on L3 to L1 at the moment is recorded as PCJ 2; the Euclidean distances from the point PC2 to the point PC, from the point PC2 to the point PCJ2 and from the point PC to the point PCJ2 are DC4, DC5 and DC6 respectively; TempC2= Max (DC4, DC5, DC6) was calculated; wherein, the Max function is to find the maximum value of each element in the brackets, for example, the value of Max (DC4, DC5, DC6) is the maximum value of DC4, DC5, DC 6; (minimum value of elastic distance to prevent the tubing at the CTV end from pulling off);

when the heading angle is Δ maxBV, an included angle between a projection straight line of a longitudinal axis of the carrier of the VLCC on a horizontal plane and a straight line L4 from the first end point to the second end point is Δ a4, and a point of a position PB1 on L4 at the time and a projection point on L1 are recorded as PBJ 1; the Euclidean distances from the point PB1 to PB, from the point PB1 to the point PBJ1 and from the point PB to the point PBJ1 are DB1, DB2 and DB3 respectively; TempB1= Min (DB1, DB2, DB3) is calculated; for example, the value of Min (DP1, DP2, DP3) is the minimum of DB1, DB2, DB 3; (maximum value of elastic distance to prevent oil pipe pull-off at the VLCC end);

when the heading angle is Δ MinBV, an included angle between a projection straight line of a longitudinal axis of the carrier of the VLCC on a horizontal plane and a straight line L5 from a first end point to a second end point is Δ a5, and a point of a position PB2 of the second end point on L5 at the time and a projection point on L1 are recorded as PBJ 2; the Euclidean distances from the point PB2 to PB, from the point PB2 to the point PBJ2 and from the point PB to the point PBJ2 are DB4, DB5 and DB6 respectively; TempB2= Max (DB2, DB2, DB3) was calculated; (maximum value of elastic distance to prevent oil pipe pull-off at the VLCC end);

D1=Min(TempC1、TempC2、TempB1、TempB2)；

D2=Max(TempC1、TempC2、TempB1、TempB2)；

the first constraint relation is made to be an anti-snapping elastic control model.

Further, in S400, the method for performing the stretch-break prevention elastic control through the stretch-break prevention elastic control model by the positioning adjustment system of the CTV includes:

the CTV positioning adjustment system carries out real-time dynamic positioning; real timeMonitoring the center point correction distance between the current CTV and the bargeIf it is presentIf the first constraint relation (the anti-snapping elastic control model) is met, the positioning adjustment system starts the CTV to move towards the direction far away from the barge so as to enable the CTV to return to the range of the safe area;

if it is currentIf the first constraint relation is not met, the positioning adjustment system starts the CTV to move towards the direction far away from the barge so that the CTV returns to the safe area range, and simultaneously starts to stop the oil transportation operation, closes the oil transportation pump and pushes dangerous information to the mobile equipment of the administrator.

Further, in S400, the alignment adjustment system is a mooring positioning system or a dynamic positioning system disposed on the CTV.

Further, in S400, the method for performing anti-snap elasticity control through the anti-snap elasticity control model by the positioning adjustment system of the CTV further includes:

constructing a second constraint relation:；

△1=Min(△a2、△a3、△a4、△a5)；

△2=Max(△a2、△a3、△a4、△a5)；

wherein the content of the first and second substances,the corrected course angle information of the CTV is obtained;；

deviation of azimuth angle during CTV moving towards direction far away from barge is delta A_B；

△A_B=Min(|A_{Fruit of B}-△a1|、|A_{Fruit of B}-△a2|、|A_{Fruit of B}-△a3|、|A_{Fruit of B}-△a4|、|A_{Fruit of B}-△a5|)；

Or, Delta A_B=Min(A_{Fruit of B}-△a1、A_{Fruit of B}-△a2、A_{Fruit of B}-△a3、A_{Fruit of B}-△a4、A_{Fruit of B}-△a5)；

And the second constraint relation is required to be met in the motion process of starting the CTV motion by the CTV positioning adjustment system.

Although the description of the present disclosure has been rather exhaustive and particularly described with respect to several illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, so as to effectively encompass the intended scope of the present disclosure. Furthermore, the foregoing describes the disclosure in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the disclosure, not presently foreseen, may nonetheless represent equivalent modifications thereto.