テンションレグプラットフォームの動揺および内力の制御

概要

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This paper presents active control of TLP. Dynamic responses, motion and stress, were controlled. Natural frequency of the deepwater TLP tendon decreases with increasing water depth. There is possibility that the dynamic response, which is induced by hull motion, become significant for deepwater. Strain of the tendon was included in the objective function of optimal control formulation. High frequency response induced by wave was cut off and slowly varying wave drifting force was controlled. The experiment showed that motion by drifting force can be much larger than wave induced motion in the case of TLP model used in the experiment. The magnitude of motion was reduced to comparable to wave induced motion and at the same time the strain of the tendon was limited or reduced by the control. Displacement of hull was measured by ultrasound ranging sensor and control force is generated by two thrusters. The experiment showed that the maximum control force is less than l/80 of hull weight which is conventional value found among existing semisubmersibles.
社団法人日本船舶海洋工学会の論文