能動制御による大水深TLPテンドンのアペンディング

概要

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This paper presents theoretical development and experimental results of controlled installation technique of deep water TLP tendons. Dynamic response and deformation of a single-piece TLP tendon is controlled using wing-like appendages which generate drag force. The appendages are unfolded by servomechanism and drag force is controlled by changing the opening angle. This actuator utilizes free fall momentum of sinking tendon. Thus the actuator is efficient from viewpoint of consumed energy and the size of the actuator can be small. The system is suitable for deep water uses. In the theoretical development LAY/HA approach is employed to make the system robust against the nonlinearity and uncertainties in the dynamics of underwater line structure. DVFB is employed for LAY and significant modes are controlled by HA. The line structure handled in this paper is almost neutrally buoyant and a constraint is imposed so that the moment of control forces about supporting point be zero. Otherwise there is possibility of structure do not sink and the structure can not be installed. Control parameters were chosen from computer simulations, and experiments were conducted successfully. The experiments are important to verify the theoretical development and robustness of control.
社団法人日本船舶海洋工学会の論文