| With the rapid development of the world economy,land oil and gas resources have been difficult to meet people’s production and living needs,and people are looking to the abundant resource of deep sea.Pipeline transportation undertakes most of the transportation tasks of oil and gas resources,while the laying of oil and gas pipelines is almost completed by the laying ship.Based on the project of "collaborative innovation and engineering application demonstration of km deep subsea pipeline laying industry chain" of the State Oceanic Administration,this paper uses numerical simulation and model test investigation to carry out analysis of the upgraded "HYSY 201" pipe laying vessel,which has high theoretical significance and engineering application value.In this paper,C language combined with PID control algorithm,SQP and complex thrust distribution algorithm is used to develop a numerical simulation program for the dynamic positioning of pipe-laying vessel.The simulation results of the program are compared with the commercial software to verify the reliability of the program.After comparing the numerical simulation results of the two distribution algorithms,SQP method was selected as the thrust distribution algorithm for subsequent model test and parameter sensitivity analysis.Based on Lab VIEW system and NI hardware,a set of dynamic positioning experiment control system is developed in this paper.Aiming at the "HYSY 201" pipe--laying vessel,the model is reasonably simplified,and a series of dynamic positioning pool model tests are carried out under the condition of pipe laying and non-laying.The results of numerical simulation and model test are in good agreement,which verify the reliability and accuracy of the proposed method.Considering the wave direction,peak period,significant wave height of irregular waves and pipe laying,the sensitivity analysis of dynamic positioning parameters is carried out by numerical simulation.The results show that the pipeline has a certain restriction on the movement of the pipe-laying vessel,which is conducive to the control of the movement response of the pipe-laying vessel,but the energy consumption of the thruster system increases.The movement response of the pipe-laying vessel under irregular waves is statistically analyzed,and the suggestions for allowable construction conditions are given. |
