NO20092335L - Method and apparatus for active heave compensation - Google Patents

Method and apparatus for active heave compensation

Info

Publication number
NO20092335L
NO20092335L NO20092335A NO20092335A NO20092335L NO 20092335 L NO20092335 L NO 20092335L NO 20092335 A NO20092335 A NO 20092335A NO 20092335 A NO20092335 A NO 20092335A NO 20092335 L NO20092335 L NO 20092335L
Authority
NO
Norway
Prior art keywords
hiv
signal
vessel
coupling device
compensation
Prior art date
Application number
NO20092335A
Other languages
English (en)
Other versions
NO337641B1 (no
Inventor
Age Kyllingstad
Original Assignee
Nat Oilwell Varco Lp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nat Oilwell Varco Lp filed Critical Nat Oilwell Varco Lp
Publication of NO20092335L publication Critical patent/NO20092335L/no
Publication of NO337641B1 publication Critical patent/NO337641B1/no

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/09—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods specially adapted for drilling underwater formations from a floating support using heave compensators supporting the drill string
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G05D1/0208—Control of position or course in two dimensions specially adapted to water vehicles dynamic anchoring

Landscapes

  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Earth Drilling (AREA)
  • Medicines Containing Plant Substances (AREA)
  • Steroid Compounds (AREA)

Abstract

Fremgangsmåter og apparater for aktiv hivkompensering, hvor fremgangsmåten i visse aspekter innbefatter trinnene: (a) å måle med en måleanordning (44) et fartøys (10) hiv og avgi et hivsignal som er representativt for dette; (b) å bruke nevnte hivsignal for å kompensere for nevnte hiv ved å forskyve en koplingsanordning (20) i forhold til nevnte fartøy (10) som en funksjon av nevnte hivsignal, hvorved bevegelse som skyldes nevnte hiv, av en last festet til nevnte fartøy via koplingsanordningen, reduseres; hvor nevnte hivsignal omfatter feil innført av nevnte måleanordning (44), hvorved nøyaktigheten i nevnte kompensering reduseres; (c) å behandle nevnte hivsignal for å redusere nevnte feil og avgi et justert hivsignal; og (d) å bruke nevnte justerte hivsignal for å forskyve nevnte koplingsanordning (20) for å kompensere for nevnte hiv.
NO20092335A 2006-12-06 2009-06-18 Fremgangsmåte for aktiv hivkompensering NO337641B1 (no)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/GB2006/050430 WO2008068445A1 (en) 2006-12-06 2006-12-06 Method and apparatus for active heave compensation

Publications (2)

Publication Number Publication Date
NO20092335L true NO20092335L (no) 2009-08-27
NO337641B1 NO337641B1 (no) 2016-05-23

Family

ID=37714495

Family Applications (1)

Application Number Title Priority Date Filing Date
NO20092335A NO337641B1 (no) 2006-12-06 2009-06-18 Fremgangsmåte for aktiv hivkompensering

Country Status (7)

Country Link
US (1) US8265811B2 (no)
EP (1) EP2092402B1 (no)
BR (1) BRPI0622075B1 (no)
CA (1) CA2671339C (no)
DK (1) DK2092402T3 (no)
NO (1) NO337641B1 (no)
WO (1) WO2008068445A1 (no)

Families Citing this family (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG173844A1 (en) * 2009-03-02 2011-09-29 Gen Electric Drive assembly and apparatus for hoist
US8776711B2 (en) * 2009-12-21 2014-07-15 Eaton Corporation Active heave compensation with active damping control
DE102010015359A1 (de) * 2010-04-19 2011-10-20 Howaldtswerke-Deutsche Werft Gmbh Beurteilung der Schiffsdynamik
SE536059C2 (sv) * 2010-07-29 2013-04-16 C2Sat Comm Ab Förfarande för att driftkompensera ett positionsmätningsorgan
KR101287329B1 (ko) * 2011-06-14 2013-07-22 현대중공업 주식회사 Ｂｏｐ 조립체의 수중 보관을 위한 슬롯을 갖는 시추시스템
US20140142871A1 (en) * 2011-06-28 2014-05-22 International Business Machines Corporation Vibration monitoring system
US10169822B2 (en) 2011-12-02 2019-01-01 Spireon, Inc. Insurance rate optimization through driver behavior monitoring
US8510200B2 (en) 2011-12-02 2013-08-13 Spireon, Inc. Geospatial data based assessment of driver behavior
DE102012004802A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks
AU2013267148B9 (en) 2012-06-01 2017-04-06 Seatrax, Inc. System and method to determine relative velocity of crane and target load
US20140095061A1 (en) * 2012-10-03 2014-04-03 Richard Franklin HYDE Safety distance monitoring of adjacent vehicles
US8933802B2 (en) 2012-11-05 2015-01-13 Spireon, Inc. Switch and actuator coupling in a chassis of a container associated with an intermodal freight transport system
US9779379B2 (en) 2012-11-05 2017-10-03 Spireon, Inc. Container verification through an electrical receptacle and plug associated with a container and a transport vehicle of an intermodal freight transport system
US9688516B2 (en) 2013-03-15 2017-06-27 Oil States Industries, Inc. Elastomeric load compensators for load compensation of cranes
DK178120B1 (en) * 2013-04-18 2015-06-01 A P Møller Mærsk As An Offshore Floating Vessel and a Method of Operating the Same
US9779449B2 (en) 2013-08-30 2017-10-03 Spireon, Inc. Veracity determination through comparison of a geospatial location of a vehicle with a provided data
NO335595B1 (no) * 2013-08-30 2015-01-12 Kongsberg Maritime As Effektstyring i sjøfartøyer
NO20131666A1 (no) 2013-12-13 2015-06-15 Tts Ships Equipment As Fremgangsmåte og system for å detektere forekommende slakk heiseline i en vinsj
US20150186991A1 (en) 2013-12-31 2015-07-02 David M. Meyer Creditor alert when a vehicle enters an impound lot
EP3134660A1 (en) 2014-03-13 2017-03-01 Oil States Industries, Inc. Load compensator having tension spring assemblies contained in a tubular housing
WO2015138833A1 (en) * 2014-03-13 2015-09-17 Canrig Drilling Technology Ltd. Low inertia direct drive drawworks
JP6204873B2 (ja) * 2014-04-21 2017-09-27 株式会社神戸製鋼所 電動ウインチ装置
NO343555B1 (no) 2014-12-02 2019-04-01 Electrical Subsea & Drilling As Anordning og fremgangsmåte ved aktiv hiv kompensering
WO2016105203A1 (en) * 2014-12-23 2016-06-30 National Oilwell Varco Norway As System for hoisting a load on an offshore drilling rig
US10207905B2 (en) 2015-02-05 2019-02-19 Schlumberger Technology Corporation Control system for winch and capstan
WO2016130155A1 (en) * 2015-02-13 2016-08-18 Halliburton Energy Services, Inc. Real-time tracking and mitigating of bending fatigue in coiled tubing
SG11201706864PA (en) * 2015-02-23 2017-09-28 Transocean Sedco Forex Ventures Ltd Marine motion compensated draw-works real-time performance monitoring and prediction
US9551788B2 (en) 2015-03-24 2017-01-24 Jim Epler Fleet pan to provide measurement and location of a stored transport item while maximizing space in an interior cavity of a trailer
EP3124740B1 (de) * 2015-07-27 2019-04-03 BAUER Spezialtiefbau GmbH Bohrgerät und verfahren zum erstellen einer bohrung von einer schwimmenden plattform
WO2017123237A1 (en) * 2016-01-15 2017-07-20 Halliburton Energy Services, Inc. Offshore drilling platform vibration compensation using an iterative learning method
WO2017146591A2 (en) 2016-02-22 2017-08-31 Safelink As Mobile active heave compensator
JP7059605B2 (ja) * 2017-12-08 2022-04-26 富士電機株式会社 クレーンの運転制御装置
CN109268003A (zh) * 2018-09-14 2019-01-25 中国石化江汉油田分公司江汉采油厂 一种地质工程一体化框架下的致密油增产数学建模方法
CN110032074B (zh) * 2019-05-22 2022-04-19 中国科学院光电技术研究所 一种双路前馈扰动观测器的双补偿器设计方法
CN110576941B (zh) * 2019-09-25 2021-03-02 大连理工大学 一种具有电磁阻尼的被动式波浪补偿装置
CN111807247A (zh) * 2020-08-05 2020-10-23 中海石油(中国)有限公司 适用于双井架钻机的双绞车提升与主动补偿系统
CN112611382B (zh) * 2020-11-27 2022-06-21 哈尔滨工程大学 一种带有相位补偿的捷联惯导系统升沉测量方法
CN112629540B (zh) * 2020-12-16 2024-02-09 北京航天控制仪器研究所 一种基于载体姿态信息的升沉测量方法
CN114123914B (zh) * 2021-11-19 2023-11-14 美的威灵电机技术（上海）有限公司 电机的控制方法、控制装置、控制系统和可读存储介质
CN114014179B (zh) * 2021-11-22 2024-01-30 湖南科技大学 一种电驱动海洋绞车主动升沉补偿系统滑模控制方法
NO347780B1 (en) * 2021-12-03 2024-03-25 Kongsberg Maritime As Pull-in of dynamic cables for floating wind turbines
CN114499317A (zh) * 2022-01-11 2022-05-13 浪潮云信息技术股份公司 应用于主动绞车升沉补偿的预测控制方法及系统
JP7518125B2 (ja) * 2022-04-21 2024-07-17 ヤマハ発動機株式会社 船舶の速度制御方法及び船舶
CN116295389B (zh) * 2023-05-23 2023-08-04 中国船舶集团有限公司第七〇七研究所 一种捷联罗经系统状态平稳切换方法、装置、设备和介质
CN119335893A (zh) * 2024-08-30 2025-01-21 中山大学 用于主动升沉补偿系统的联合仿真方法、设备及介质
CN118821494B (zh) * 2024-09-18 2025-03-18 齐鲁工业大学(山东省科学院) 海洋电导率传感器动态特性补偿方法
CN119714343B (zh) * 2024-12-20 2025-09-30 哈尔滨工程大学 一种基于互补滤波的升沉测量方法
CN120871640B (zh) * 2025-09-26 2025-11-28 中国船舶集团有限公司第七一九研究所 潜水用吊放操控方法、装置、存储介质及电子设备
CN121071271B (zh) * 2025-11-10 2026-02-27 武汉华中航空测控技术有限公司 船用起重机升沉补偿系统及升沉补偿方法、装置和设备

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4104608A (en) * 1977-03-30 1978-08-01 The United States Of America As Represented By The Secretary Of The Navy Heave meter
EP0261731B1 (en) 1986-09-16 1994-03-16 Eurosense Hoversounding N.V. Method and device for measuring the depth of the bottom under a water surface
GB2215468B (en) 1988-03-02 1992-10-14 Technical Survey Services Ltd Apparatus and method for measuring the vertical displacement of a floating platform and a method of determining the pitch and roll thereof
US5130926A (en) * 1989-02-08 1992-07-14 Aisin Seiki Kabushiki Kaisha Pressure control system for suspension
US5209302A (en) * 1991-10-04 1993-05-11 Retsco, Inc. Semi-active heave compensation system for marine vessels
US5894895A (en) * 1996-11-25 1999-04-20 Welsh; Walter Thomas Heave compensator for drill ships
US6216789B1 (en) * 1999-07-19 2001-04-17 Schlumberger Technology Corporation Heave compensated wireline logging winch system and method of use
US6082947A (en) * 1999-08-17 2000-07-04 Adamson; James E. Coordinated motion marine lifting device
US6201763B1 (en) * 1999-09-20 2001-03-13 The United States Of America As Represented By The Secretary Of The Navy Depthimeter
US6382022B1 (en) * 2000-03-27 2002-05-07 The United States Of America As Represented By The Secretary Of The Navy Shipboard wave measurement system
US6836707B2 (en) * 2002-05-30 2004-12-28 Honeywell International Inc. Methods and systems for determining heave and heave rate of vessels
NO320692B1 (no) * 2002-12-30 2006-01-16 Stiftelsen Det Norske Veritas Fremgangsmate og system for testing av datamaskinbaserte styre- og overvakningssystemer i et fartoy via en kommunikasjonskanal
US6926259B1 (en) * 2003-03-12 2005-08-09 Itrec B.V. Hoist system
GB0316375D0 (en) 2003-07-12 2003-08-13 Stolt Offshore Sa Method and associated apparatus for abandonment and recovery at sea
US7231981B2 (en) * 2003-10-08 2007-06-19 National Oilwell, L.P. Inline compensator for a floating drill rig
US6935262B2 (en) * 2004-01-28 2005-08-30 Itrec B.V. Method for lowering an object to an underwater installation site using an ROV
GB0406336D0 (en) * 2004-03-19 2004-04-21 Subsea 7 Uk Apparatus and method
US7281585B2 (en) * 2006-02-15 2007-10-16 Schlumberger Technology Corp. Offshore coiled tubing heave compensation control system
ATE552204T1 (de) * 2006-08-15 2012-04-15 Hydralift Amclyde Inc Direkt wirkender einzelscheiben-aktiv/passiv- hubkompensator

Also Published As

Publication number Publication date
CA2671339A1 (en) 2008-06-12
BRPI0622075B1 (pt) 2017-12-12
DK2092402T3 (en) 2015-10-12
US20100057279A1 (en) 2010-03-04
NO337641B1 (no) 2016-05-23
BRPI0622075A2 (pt) 2014-05-20
CA2671339C (en) 2014-02-18
EP2092402B1 (en) 2015-08-05
WO2008068445A1 (en) 2008-06-12
US8265811B2 (en) 2012-09-11
EP2092402A1 (en) 2009-08-26

Similar Documents

Publication Publication Date Title
NO20092335L (no) Method and apparatus for active heave compensation
EP2211267A3 (en) Method and apparatus for performing volume replication using unified architecture
WO2012009103A3 (en) Method and apparatus for training a memory signal via an error signal of a memory
NO20050713L (no) Anvendelse av forbindelser for a oke spermatozoabevegelighet
TW200739676A (en) Moving body drive method, moving body drive system, pattern formation method, pattern formation device, exposure method, exposure device, and device fabrication method
TW200702124A (en) Apparatus for servicing a plasma processing system with a robot
NO20083779L (no) Fartoy med bevegelseskompenserende plattform, samt plattform og fremgangsmate for samme
TW200943465A (en) Systems and methods for dynamic alignment beam calibration
NO20082090L (no) Pyridopyrimidinoninhibitorer av P13K alfa
WO2009072199A1 (ja) 基板搬送装置及び基板搬送装置の制御方法
DK1633779T3 (da) Oxidoreduktase fra Pichia capsulata
EP2505961A3 (en) An apparatus, tool, and method for modifying a portion of a floor plan based on measurements made by one or more sensors
FR2929650B1 (fr) Procede et dispositif d'adaptation d'un modele dynamique d'une sonde de gaz d'echappement.
BR112012023984A2 (pt) compensação residual para um biossensor
NO20084164L (no) Ping-pong autonullforsterker med signalfeilreduksjon
MX2014003015A (es) Biosensor con compensacion de error.
MX2007015550A (es) Metodo y aparato para controlar un amplificador optico para uso en una red optica pasiva.
MY165050A (en) Fracture determination method, fracture determination apparatus, program, and computer readable recording medium
NO20076028L (no) Helikopterlandingsplattform med bevegelsesstabilisator for rull- og/eller stampkompensasjon
WO2008005651A3 (en) Cyclic carboxylic acid rhodanine derivatives for the treatment and prevention of tuberculosis
WO2008142578A3 (en) Crane support apparatus and methods thereof
NO20083708L (no) 4-Fenyl-tiazol-5-karboksylsyre og 4-fenyl-tiazol-5-karboksylmider som PLK1-inhibitorer
MY151183A (en) Processes for the preparation of 4-oxo-octahydro-indole-1-carbocyclic acid methyl ester and derivatives thereof
MX2009004154A (es) Purinas como inhibidores de pkc-theta.
MX2011008348A (es) Proceso para producir derivado heterociclico sustituido con fenilo a traves de acoplamiento usando catalizador de metal de transicion.