JP3960807B2 - Offshore supply hose suspension position control method and offshore supply device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method for controlling a suspended position of an offshore supply hose and an onshore supply device for appropriately controlling the suspended position of a supply hose that is installed between two ships on the ocean and supplies oil or water.
[0002]
[Prior art]
When supplying oil or water from a supply ship to a receiving ship while navigating offshore, a thick rope called a span wire is installed between the two ships, and a supply hose is suspended over several pulleys. Supply oil and water from the supply hose. Each pulley provided on the span wire is supported by a saddle wire. By the way, the distance between the two ships greatly varies depending on the hull movement such as pitching and rolling, so the length of the span wire is controlled so that it does not loosen too much and the supply hose does not touch the sea surface, or the supply hose does not pull too much. Need to control.
[0003]
In order to deal with the above problem, for example, the prior art disclosed in Japanese Patent Application Laid-Open No. 52-10913 calculates the feeding length of each saddle wire according to a predetermined function corresponding to the span length of the span wire, and the saddle The wire length is controlled.
[0004]
In addition, other conventional techniques currently in use include automatic tension control so that the tension of each saddle wire is constant, or speed control using a manual handle or the like.
[0005]
[Problems to be solved by the invention]
However, in the former prior art, since the span wire erection length is the reference, the suspension position of the supply hose can be controlled only when the supply hose is coupled, and the supply hose is supplied from the supply ship to the receiving ship. There is a problem that the suspended position of the replenishing hose cannot be controlled at the time of feeding or retracting.
[0006]
Also in the latter prior art, since the tension of each saddle wire is the reference, in order to control the suspended position of the supply hose, the supply hose is connected to the receiving ship and the pulley position is held at a predetermined position. Therefore, there is a problem that the suspended position of the supply hose cannot be controlled when the supply hose is extended or stored. Further, a tension control device such as a hydraulic accumulator is required for each saddle winch of each saddle wire, which causes a problem that the device becomes large.
[0007]
Furthermore, the speed controlled by a manual handle or the like has a problem that accurate control is difficult under rough sea conditions.
The present invention solves the above-described problems, and can control the suspended position of the supply hose not only during replenishment but also when feeding the replenishment hose and when retracting the storage hose, and the device can be made compact, so that it can be used in rough weather. Another object of the present invention is to provide an offshore supply hose hanging position control method and an offshore supply device capable of accurate control operation.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the suspension hose suspended position control method according to claim 1 is characterized in that a supply hose is attached to a span wire between a supply ship and a receiving ship by a saddle at a plurality of positions via a moving pulley. When controlling the suspended position of the replenishment hose via a saddle winch by a saddle wire whose tip is connected to each of the moving pulleys, the longest saddle wire connected to the most advanced moving pulley is used. When the feeding wire length exceeds the feeding start length at which each moving pulley other than the leading edge starts to move, based on a function having the feeding wire length of the longest saddle wire fed beyond the feeding start length as a parameter The feeding wire length of each saddle wire is controlled.
[0009]
According to the above configuration, the saddle winch is controlled by calculating the feeding wire length of each saddle wire based on the feeding wire length of the longest saddle wire fed beyond the feeding start length of the saddle wires other than the longest saddle wire. Therefore, not only during replenishment, but also when feeding the replenishment hose or when retracting it, the length of the longest saddle wire is properly controlled to control the position of the most advanced moving pulley. It is possible to control the position of the other pulleys by properly controlling the length of the feeding wire of the saddle wire. The supply hose can be suspended and held at the appropriate position. Can be prevented from being pulled too much. Moreover, since the tension adjusting device can be reduced, the device can be made compact.
[0010]
According to a second aspect of the present invention, there is provided a method for controlling the suspended position of the supply hose according to the first aspect, wherein the distal end portion of the saddle wire having a shorter feeding wire length than the longest saddle wire is supported by the span wire. When controlling an intermediate suspension saddle wire connected to a pulley and supporting an auxiliary moving pulley arranged adjacent to the saddle winch side of the distal end side pulley at the intermediate portion, the feeding wire length of the longest saddle wire is When the extension wire length of the longest saddle wire exceeds the adjustment start length for adjusting the movement of the auxiliary pulley, after the extension start length of the intermediate suspension pulley is started beyond the extension start length of the side pulley. The feeding wire length of the intermediate suspension saddle wire is controlled based on a function having the feeding wire length of the longest saddle wire fed out beyond the adjustment start length as a parameter.
[0011]
According to the above configuration, even when the saddle wire for the intermediate suspension is used to suspend and support the auxiliary movable pulley at the intermediate portion, the leading-side movable pulley starts to move and the feeding wire length of the intermediate suspension saddle wire is controlled. If the length of the longest saddle wire that is extended exceeds the adjustment start length of the auxiliary pulley, the length of the longest saddle wire that exceeds the adjustment start length is extended according to the length of the longest saddle wire that is extended. By determining the wire length and controlling the saddle winch of the saddle wire for intermediate suspension, the leading and auxiliary pulleys of the intermediate suspension saddle wire can be controlled to the proper position, and the replenishing hose is attached. Water can be prevented.
[0012]
The suspension position control method for the offshore supply hose according to claim 3 is the structure according to claim 1 or 2, wherein the tip is connected to the most advanced moving pulley in a state where the supply hose is connected to the receiving ship. By connecting and fixing the wire to the receiving ship, the state-of-the-art movable pulley is held at a fixed position of the span wire, and the saddle winch of the longest saddle wire is controlled so that the tension of the longest saddle wire is constant.
[0013]
According to the above-described configuration, even when the longest saddle wire is replenished with a constant tension control, the length of the other saddle wires is controlled so that the moving pulley is set to an appropriate position in the same manner as when feeding and storing. It can hold | maintain and it can prevent that a supply hose lands. In addition, a tension adjusting device is not required for saddle winches other than the saddle winch of the longest saddle wire, and the device can be made compact.
[0014]
The offshore replenishment device according to claim 4 is a span wire laid between a replenishment ship and a receiving ship, a plurality of movable pulleys supported movably on the span wire, and a saddle on each of the dynamic pulleys via a saddle. An offshore replenishment device comprising a replenishment hose supported in a suspended manner and a saddle wire connected to each of the movable pulleys and wound around a saddle winch, each of which detects a feeding wire length of each of the saddle wires. With the wire length detection means and the wire length detection means, the feeding wire length of the longest saddle wire connected to the most advanced moving pulley exceeds the feeding start length at which each moving pulley other than the leading edge starts to move. When detected, the feeding wire length of each saddle wire is calculated based on a function having the feeding wire length of the longest saddle wire drawn beyond the feeding start length as a parameter. Comprising a saddle wire controller having an optimum feeding length calculator, by the saddle-wire control device is obtained by configured to control each saddle winch respectively.
[0015]
According to the above configuration, when the wire length detecting unit detects the feeding wire length of the longest saddle wire and the wire is fed beyond the feeding start length, the optimum feeding length calculation unit of the saddle wire control device exceeds the feeding start length. The length of each saddle wire is calculated according to the length of the longest saddle wire, and the saddle winch is controlled by the saddle wire control device. Even so, the length of the longest saddle wire is properly controlled to control the position of the most advanced moving pulley, and the length of the remaining saddle wire is properly controlled to control the position of other moving pulleys. Can be controlled, the supply hose can be suspended and held in an appropriate position, and it can be prevented that the supply hose is loosened too much and the supply hose is pulled too much. Moreover, since the tension adjusting device can be reduced, the device can be made compact.
[0016]
The offshore replenishing device according to claim 5 is the construction according to claim 4, wherein, among the saddle wires having a feeding wire length shorter than the longest saddle wire, the tip side movable pulley supported by the span wire on the tip side, and the tip An intermediate suspension saddle wire that supports the rear auxiliary pulley supported by the saddle wire on the saddle winch side of the side pulley is provided, and the saddle wire control device has a longest saddle wire feeding wire length on the tip side. After the start of the movement of the leading pulley beyond the pulley start length of the pulley, when the length of the longest saddle wire has exceeded the adjustment start length of adjusting the movement of the auxiliary pulley, the adjustment start length is The feeding wire length of the intermediate suspension saddle wire is controlled on the basis of a function having the feeding wire length of the longest saddle wire drawn over as a parameter.
[0017]
According to the above configuration, even when the saddle wire for intermediate suspension supports the auxiliary movable pulley at the intermediate portion, the leading-side movable pulley starts to move and the feeding wire length of the intermediate suspension saddle wire is controlled. When the wire length detecting means detects that the wire length of the longest saddle wire has exceeded the adjustment start length of the auxiliary pulley, the optimum feed length calculation unit is used to supply the longest saddle wire that exceeds the adjustment start length. By determining the feeding wire length of the intermediate suspension saddle wire according to the wire length, and controlling the saddle winch of the intermediate suspension saddle wire by the saddle wire control device, the leading side pulley of the intermediate suspension saddle wire And the auxiliary movable pulley can be controlled to an appropriate position, and the supply hose can be prevented from landing.
[0018]
The offshore replenishment apparatus according to claim 6 is the construction according to claim 4 or 5, wherein the replenishment hose is connected to the receiving ship, the distal end is connected to the most advanced moving pulley, and the proximal end is the receiving ship. A connecting wire is provided that is connected and fixed to hold the state-of-the-art movable pulley at a fixed position of the span wire. The saddle wire control device makes the tension of the longest saddle wire constant based on the detection value of the wire tension detecting means. In this way, the saddle winch is controlled.
[0019]
According to the above configuration, the state-of-the-art movable pulley is held at a fixed position by the connecting wire, and the longest saddle wire is controlled to have a constant tension by the saddle wire control device based on the detection value of the wire tension detecting means. Even during replenishment, the length of other saddle wires can be controlled to keep the movable pulleys in their proper positions, and the replenishing hose can land. Can be prevented. In addition, a tension adjusting device is not required for saddle winches other than the saddle winch of the longest saddle wire, and the device can be made compact.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Here, an embodiment of the offshore supply device according to the present invention will be described with reference to FIGS.
[0021]
As shown in FIG. 1 and FIG. 2, a supply column 11 is erected on the supply vessel 1, and a column 8 is erected on the receiving vessel 2, and the tension adjusting device 13 from the span winch 12 of the supply vessel 1. The span wire 3 fed out through the cable is fed from the upper side via the span fixed pulley 14 of the supply column 11 while being inclined downward from the upper side, and its tip is connected to the column 8 of the receiving ship 2 through the hook 9. The span wire 3 is drawn out with a constant tension by the tension adjusting device 13 and is stretched so as to be wound up. The tension adjusting device 13 includes a tension adjusting unit 13a including two sets of pulleys and a ram cylinder that drives the pulleys to approach and separate from each other, and an accumulator 13b that supplies hydraulic pressure to the ram cylinder.
[0022]
The refueling hose (replenishment hose) 4 connected from the outlet 15 of the refueling device 1 of the refueling ship 1 to the connection joint 10 of the replenishing tank of the receiving ship 2 has a probe joint 16 a at the tip end of the span wire via the tip support pulley 16. 3, and then saddles (metal hose joints) 5 a to 5 d on the first moving pulley 5 </ b> A, the second moving pulley 5 </ b> B, the third moving pulley 5 </ b> C, and the auxiliary moving pulley 5 </ b> D not supported by the span wire 3. Is supported by the span wire 3 at a predetermined position via the hanger.
[0023]
The supply ship 1 is provided with first to third saddle winches 7A to 7C, respectively, and the first and second saddle wires 6A and 6B fed from the first and second saddle winches 7A and 7B are respectively The first and second movable pulleys 5A and 5B are connected to the first and second fixed pulleys 18A and 18B provided on the column 11, respectively. Further, the third saddle wire 6C fed out from the third saddle winch 7C is led out via a 3-1 fixed pulley 18Ca provided on the column 11, and further supports the auxiliary movable pulley 5D. 11 through the third 3-2 fixed pulley 18Cb and connected to the third movable pulley 5C.
[0024]
Furthermore, in a state where the oil supply hose 4 is connected to the connection joint 10, the first movable pulley 5 </ b> A is connected and fixed to the receiving ship 2 by a predetermined length of riding wire (connection wire) 19, and is connected to the span wire 3. While the first saddle wire 6A is replenished, the tension is controlled by the first saddle winch 7A and the tension adjusting device 13 so that a constant tension is maintained even when the distance between ships fluctuates. Further, when the oil supply hose 4 is extended and stored, the supply and winding speeds of the first saddle wire 6A are controlled.
[0025]
Next, the saddle wire control device 21 when the electric winch is used will be described with reference to FIG.
Each of the first to third saddle winches 7A to 7C includes first to third winch drive motors 22A to 22C for driving the winch drums 23A to 23C to rotate forward and backward via speed reducers 24A to 24C, respectively. The rotation speeds of the first to third winch drive motors 22A to 22C are read by the rotation sensors 25A to 25C, respectively, and first to third motor drive circuits 26A to 26C and first to third wire length calculation units 35 and 42 to be described later. , 52, respectively.
[0026]
The saddle wire control device 21 includes first to third saddle wire control units 30, 40, and 50 and their support devices.
That is, the first saddle wire control unit 30 includes a subtractor 33 that calculates a feeding wire length deviation of the first saddle wire 6A from the detected value of the wire tension sensor (wire tension detecting means) 31 and the output value of the tension setter 32. The tension control unit 34 that converts the feeding wire length deviation of the subtractor 33 into the control command value of the first winch drive motor 22A, and the first motor drive circuit 26A that drives the first winch drive motor 22A by this control command value And a first wire length calculator 35 for calculating the feed wire length of the first saddle wire 6A based on the output value of the rotation sensor 25A. The first saddle wire control unit 30 is provided with a first wire speed control calculation unit 37 for calculating the winding speed or the feeding speed of the first saddle wire 6A based on an operation signal from the first wire speed operation lever 36. In addition, a first mode changeover switch 38 for selecting a tension mode by the tension control calculation unit 34 and a speed mode by the first wire speed control calculation unit 37 is provided.
[0027]
The second saddle wire control unit 40 is also used as the third saddle wire control unit 50, and the optimal value of the second saddle wire 6B is determined based on the output wire length of the first saddle wire 6A from the output value of the first wire length calculation unit 35. An optimum feeding length computing unit 41 for computing the length, and a feeding wire length and optimum feeding length computing unit for the second saddle wire 6B output from the rotation sensor 25B of the second saddle winch 7B via the second wire length computing unit 42. 41, a subtractor 43 for obtaining a feeding wire length deviation of the second saddle wire 6B based on the calculated value by 41, and a feeding wire length deviation by the subtractor 43 is converted into a control command value for the second winch drive motor 22B. And a second saddle winch control unit 44 that outputs to the two-motor drive circuit 26B. The second saddle wire control unit 40 is provided with a second wire speed control calculation unit 46 that calculates the winding speed or the feeding speed of the second saddle wire 6B based on the operation signal of the second wire speed operation lever 45. A second mode changeover switch 47 is provided for switching between the speed mode by the second wire speed control calculation unit 45 and the automatic follow-up mode by the second saddle winch control unit 44.
[0028]
The third saddle wire control unit 50 includes an optimum feeding length computing unit 41 that computes the optimum length of the third saddle wire 6C based on the feeding wire length of the first saddle wire 6A from the output value of the first wire length computing unit 35. Based on the detection value output from the rotation sensor 25C of the third saddle winch 7C via the third wire length calculation unit 52 and the calculation value of the optimum feeding length calculation unit 41, the feeding wire length deviation of the third saddle wire 6C And a third saddle winch control unit 54 that converts a feeding wire length deviation by the subtractor 53 into a control command value for the third winch drive motor 22C and outputs the control command value to the third motor drive circuit 26C. Has been. The third saddle wire control unit 50 is provided with a third wire speed control calculation unit 56 that calculates a winding speed or a feeding speed of the third saddle wire 6C based on an input signal of the third wire speed operation lever 55. And a third mode changeover switch 57 for switching between the automatic follow-up mode by the third saddle winch control unit 54 and the speed mode by the third wire speed control calculation unit 56.
[0029]
Next, a method for controlling the saddle wires 6B and 6C other than the first saddle wire (longest saddle wire) 6A will be described with reference to FIGS.
The feeding wire length of the first saddle wire 6A fed from the first saddle winch 7A is inputted from the rotation sensor 25A of the first winch drive motor 22A to the optimum feeding length computing unit 41 via the first wire length computing unit 35. In the optimum feeding length calculation unit 41, the optimum lengths of the second saddle wire 6B and the third saddle wire 6C are calculated based on the feeding wire length of the first saddle wire 6A.
[0030]
That is, for a saddle wire, for example, the second saddle wire 6B, in which one moving pulley is connected to the tip, for example, the feeding wire length of the first saddle wire 6A: L1, and the constant relating to the feeding wire length of the second saddle wire 6B: K2. Then,
The payout wire length of the second saddle wire 6B: L2 is
In the range of L1 <L11, L2 = 0,
In the range of L1 ≧ L11, L2 = K2 × (L1−L11) (1) is obtained.
[0031]
Here, L11 is the feeding start length of the first saddle wire 6A from the start of feeding of the first saddle wire 6A to the point P21 at which the second movable pulley 5B starts to move. In formula (1), the feeding start length The feed wire length (L1-L11) of the first saddle wire 6A fed beyond L11 is a parameter.
[0032]
Next, a third movable pulley 5C, which is a distal-side movable pulley supported by the span wire 3, is connected to the distal end side, and an auxiliary movable pulley 5D that is movably supported by the third saddle wire 6C itself at an intermediate portion. In the case of the third saddle wire 6C, which is an intermediate suspension saddle wire having the control, the control for following the movement of the third movable pulley 5C and the control for allowing the auxiliary movable pulley 5D to move are performed.
[0033]
That is, the movement of the third movable pulley 5C is set to a constant K31 relating to the length of the third saddle wire 6C with respect to the third movable pulley 5C, as in equation (1).
The payout wire length of the third saddle wire: L3 is
In the range of L1 <L12, L3 = 0,
Within the range of L12 ≦ L1 <L13, L3 = K21 × (L1-L12) (2)
Here, L12 is the feeding start length of the first saddle wire 6A from the start of feeding of the first saddle wire 6A to the point P31 at which the movement of the third movable pulley 5C starts. In formula (2), the feeding start length: The feed wire length (L1-L12) of the first saddle wire 6A fed beyond L12 is a parameter.
[0034]
When the feeding wire length L1 of the first saddle wire 6A exceeds the point P32 where the adjustment start length L13 that requires the position adjustment of the auxiliary pulley 5D is exceeded (L1 ≧ L13),
The payout wire length of the third saddle wire: L3 is
L3 = K31 × L12 + K32 × (L1−L13) (3)
[0035]
In the equation (3), the feed wire length (L1-L13) of the first saddle wire 6A fed beyond the adjustment start length L13 is a parameter.
In this way, in the third saddle wire 6C, the third moving pulley 5C is connected to the tip portion and the fourth moving pulley 5D is supported in the intermediate portion, so that the payout wire length of the third saddle wire 6C is auxiliary. Adjustment start length of the moving pulley 5D: The position changes at the position of L13.
[0036]
Note that P21, P22, P31, and P33 are input from the operating unit for the preset position and the feeding amount gradient with respect to the feeding wire length L1 of the first saddle wire 6A while feeding the hydraulic hose 4 during the first operation at the work site. The preset position is obtained and stored by desktop calculation or simulation. Moreover, in the graph shown in FIG. 5, it is represented by a polygonal line by a linear function, but may be a curve graph by a quadratic function.
[0037]
Accordingly, when the feeding wire length L1 of the first saddle wire 6A exceeds the feeding start length L11 of the second saddle wire 6B, the second saddle wire 6B calculated by the optimum feeding length calculation unit 41 of the second saddle wire control unit 40. And the feeding wire length of the second saddle wire 6B inputted from the rotation sensor 25B of the second saddle winch 7B via the second wire length computing unit 42 are inputted to the subtractor 43. A deviation amount of the feeding wire length of the second saddle wire 6B is obtained, and based on this deviation amount, a control command value is output from the second saddle winch control unit 44 to the second motor drive circuit 26B, and the second winch drive motor 22B. Is controlled. Accordingly, the second saddle wire 6B is fed out or wound up by an appropriate amount, and the second movable pulley 5B is moved to an appropriate position.
[0038]
When the feeding wire length L1 of the first saddle wire 6A exceeds the feeding start length L12 of the third saddle wire 6C, the third saddle wire 6C calculated by the optimum feeding length calculation unit 41 by the third saddle wire control unit 50. And the feed wire length of the third saddle wire 6C output from the rotation sensor 25C of the third saddle winch 7C via the third wire length calculation unit 52 are input to the subtractor 53. A deviation amount of the feed wire length of the three saddle wires 6C is obtained, and a control command value is output to the third motor drive circuit 26C based on this deviation amount to control the third winch drive motor 22C. Accordingly, the third saddle wire 6C is fed out or wound up by an appropriate amount, and the third movable pulley 5C is moved to an appropriate position.
[0039]
Further, when the feeding wire length L1 of the first saddle wire 6A exceeds the adjustment start length L13 of the third saddle wire 6C, the third saddle wire 6C calculated by the optimum feeding length calculation unit 41 by the third saddle wire control unit 50. And the feed wire length of the third saddle wire 6C output from the rotation sensor 25C of the third saddle winch 7C via the third wire length calculation unit 52 are input to the subtractor 53. A deviation amount of the feeding wire length of the three saddle wires 6C is obtained, and based on this deviation amount, a control command value is output to the third motor drive circuit 265C to control the third winch drive motor 22C. Accordingly, the third saddle wire 6C is fed out or wound up by an appropriate amount, and the auxiliary pulley 5D is moved to an appropriate position.
[0040]
The suspension position of the oil supply hose 4 by the second and third movable pulleys 5B and 5C and the auxiliary movable pulley 5D is appropriately controlled by the above control operation, so that the oil supply hose 4 is loosened too much and gets too much water or pulled too much. Trouble is prevented.
[0041]
By the way, the first saddle wire 6A is operated by the first mode changeover switch 38 when the refueling hose 4 is extended from the supply ship 1 toward the receiving ship 2 or when retracted from the receiving ship 2 to the supply ship 1. When the speed mode is selected and the automatic follow-up mode is selected by the second and third mode changeover switches 57 and 47, the second saddle wire 5B and the third saddle wire corresponding to the feeding wire length of the first saddle wire 6A. Since the length of 5C is controlled, the number of operations of the saddle wire control device 30 can be simplified to 1/3. The first saddle wire 6A after the oil hose 4 is connected to the receiving ship 2 is selected in the constant tension mode by the first mode changeover switch 38, and the second saddle wire 5B and the third saddle wire 5C are in the automatic tracking mode. It is automatically controlled.
[0042]
In the control of the feeding wire length of the saddle wire 3, FIG. 6 shows a specific example of the control in the second and third saddle winch control units 44, 54. The range where the deviation of the feeding wire length is small is a low gain. It is desirable to control slowly when there is little disturbance.
[0043]
As in the prior art, in the second and third saddle wire controllers 40 and 50, independent speed modes can be selected by the first and second mode changeover switches 38 and 40, respectively. Further, the supply of the oil supply hose 4 moves the first movable pulley 5A along the span wire 3 by its own weight along the span wire 3 inclined downward from above. When it is difficult to feed out the hydraulic hose 4 due to its own weight, it can be fed out by pulling the riding wire 19 from the receiving ship side.
[0044]
According to the above embodiment, in the case of the second span wire 6B having the tip portion connected to the second movable pulley 5B, when the feeding wire length of the longest first saddle wire exceeds the feeding start length of the movable pulley. The feeding wire length of the second saddle wire 6B is optimized by a function (equation (1)) having as a parameter the feeding wire length of the first saddle wire 6A fed beyond the feeding start length of the second saddle wire 6B. To control the length. Further, in the case of the third saddle wire 6C that supports the auxiliary moving pulley 5D in the intermediate portion, if the feeding wire length of the first saddle wire 6A exceeds the feeding start length of the third moving pulley 5C, the third saddle wire 6C The feeding wire length is controlled so as to be an optimum length by a function (equation (2)) having the feeding wire length of the first saddle wire 6A fed beyond the feeding start length of the third saddle wire 6C as a parameter. Further, when the feeding wire length of the first saddle wire 6A exceeds the adjustment starting length of the auxiliary moving pulley 5D, the feeding wire length of the third saddle wire 6C is extended beyond the adjustment starting length of the auxiliary moving pulley 5D. Proportional control is performed so as to obtain an optimum length by a function (equation (3)) using the feeding wire length L1 of the first saddle wire 6A as a parameter.
[0045]
Therefore, not only when the first saddle wire 6A is supplied with a constant tension, but also when the speed of the first saddle wire 6A is controlled by the first saddle winch 7A when the supply hose 4 is extended and stored. In addition, the second and third saddle wires 6B and 6C can be controlled in the automatic tracking mode by the second and third saddle winches 7B and 7C according to the feeding wire length of the first saddle wire 6A. As a result, the feeding wire lengths of the second and third saddle wires 6B and 6C can be automatically tracked only by controlling the feeding wire length of the first saddle wire 6A during all operations of feeding and storing the oiling hose 4 and refueling. The positions of the second to third movable pulleys 5B to 5C and the auxiliary movable pulley 5D can be scattered at appropriate positions, and the oil supply hose 4 is excessively pulled or loosened to land on the sea surface or waves. Nor. Further, since the saddle wire tension control only needs to be provided on the first saddle winch 7A, the apparatus can be made compact.
[0046]
In the previous embodiment, the winch drive motors 7A to 7C of the saddle wire control device 21 are electric motors. However, in another embodiment shown in FIG. 7, the first saddle winch is a hydraulic motor. The same members as those of the previous embodiment are denoted by the same reference numerals, and description thereof is omitted.
[0047]
That is, the first saddle winch 62 includes a hydraulic winch motor 64 that drives the winch drum 63 to rotate forward and backward. The winch drum 63 is provided with each angle sensor 65 that reads the rotation angle. It is configured to output to the length calculator 35.
[0048]
The first saddle wire control and drive unit 70 includes a constant pressure supply device 72 that supplies the oil pressure obtained from the oil pressure generating unit 71 at a constant value, a hydraulic control valve 73 that controls the oil pressure obtained from the oil pressure generating unit 71, Based on the operation signal of the first wire speed operation lever 74, the first wire speed control unit 75 that calculates the winding speed or the feeding speed of the first saddle wire 6A and operates the hydraulic control valve 73, and the constant pressure supply device 72. A first mode switching valve 76 for repeating the tension mode and the speed mode by the hydraulic control valve 73 is provided.
[0049]
The other second saddle wire control unit 40 and third saddle wire control unit 50 are configured in the same manner as in the previous embodiment.
According to the above embodiment, instead of the electric motor having the high rotation and low torque characteristics compared to the hydraulic motor, the low rotation high torque hydraulic motor is employed as the winch drive motor 64 of the first saddle winch 62. Tension control can be easily performed with a simple configuration by the constant pressure supply device 72, and a reduction gear is not required, so that the equipment cost can be reduced.
[0050]
In the said embodiment, although the replenishment hose is the oil supply hose 4, you may supply another liquid and the water supply hose which supplies drinking water etc. may be sufficient as it.
[0051]
【The invention's effect】
As described above, according to the suspension position control method of the replenishment hose according to claim 1, with reference to the feeding wire length of the longest saddle wire fed out beyond the feeding start length of the saddle wire other than the longest saddle wire, The length of each saddle wire is calculated and the saddle winch is controlled, so the length of the longest saddle wire is properly controlled not only during replenishment but also when feeding the replenishment hose and when retracting it. By simply controlling the position of the most advanced moving pulley, the length of the remaining saddle wire can be properly controlled to control the position of other moving pulleys. It can be held, and it can be prevented that the water hose is loosened too much or the replenishment hose is pulled too much. Further, since the tension adjusting device for the remaining saddle wire can be reduced, the device can be made compact.
[0052]
According to the suspension position control method of the supply hose according to claim 2, even if the saddle wire for intermediate suspension that supports the auxiliary movable pulley at the intermediate portion is suspended, the tip side movable pulley starts moving and is intermediate While the feeding wire length of the hanging saddle wire is being controlled, if the feeding wire length of the longest saddle wire exceeds the adjustment starting length of the auxiliary pulley, the feeding wire length of the longest saddle wire exceeding this adjustment starting length is set. Accordingly, the lead wire length of the intermediate suspension saddle wire is obtained, and the saddle winch of the intermediate suspension saddle wire is controlled, so that the tip side pulley and auxiliary pulley of the intermediate suspension saddle wire are properly positioned. And the supply hose can be prevented from landing.
[0053]
According to the suspension position control method of the offshore replenishment hose according to claim 3, even when the longest saddle wire is replenished with a constant tension control, the other reed wires for the saddle wire are provided in the same manner as during retraction and storage. By controlling the length, the movable pulleys can be held at appropriate positions, respectively, and the supply hose can be prevented from landing. In addition, a tension adjusting device is not required for saddle winches other than the saddle winch of the longest saddle wire, and the device can be made compact.
[0054]
According to the offshore replenishing device of the fourth aspect, when the wire length detecting means detects the feeding wire length of the longest saddle wire and the feeding wire length exceeds the feeding start length, the optimum feeding length calculation unit of the saddle wire control device The feeding wire length of each saddle wire is calculated in accordance with the feeding wire length of the longest saddle wire exceeding the feeding start length, and the saddle winch is controlled by the saddle wire control device. Even when retracting and retracting, the length of the longest saddle wire is properly controlled to control the position of the most advanced moving pulley, and the length of the remaining saddle wire is properly controlled. The position of the other pulleys can be controlled, the supply hose can be suspended and held in the proper position, preventing too much loosening and landing of the supply hose and too much pulling of the supply hose Door can be. Moreover, since the tension adjusting device can be reduced, the device can be made compact.
[0055]
According to the offshore replenishing device of the fifth aspect, even if the intermediate suspension saddle wire supports the auxiliary moving pulley at the intermediate portion, the distal side moving pulley starts moving and the intermediate hanging saddle wire is fed out. While the wire length is being controlled, when the wire length detecting means detects that the feeding wire length of the longest saddle wire has exceeded the adjustment starting length of the auxiliary pulley, this adjustment starting length is set by the optimum feeding length calculation unit. The intermediate suspension saddle wire is controlled by controlling the saddle winch of the intermediate suspension saddle wire using the saddle wire control device. The tip end side pulley and the auxiliary pulley on the wire can be controlled to appropriate positions, and the supply hose can be prevented from landing.
[0056]
According to the offshore replenishing device of the sixth aspect, the state-of-the-art moving pulley is held at a fixed position by the connecting wire, and the longest saddle wire is fixed by the saddle wire control device based on the detection value of the wire tension detecting means. Even at the time of replenishment controlled to become the same as at the time of delivery and storage, the length of other saddle wires can be controlled to hold the movable pulleys in their respective proper positions. Can be prevented from landing. In addition, a tension adjusting device is not required for saddle winches other than the saddle winch of the longest saddle wire, and the device can be made compact.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram showing an embodiment of an offshore oiling device according to the present invention.
FIG. 2 is an enlarged view of a main part of FIG.
FIG. 3 is a configuration diagram showing a saddle winch control device of the offshore oiling device.
FIG. 4 is a block diagram showing a control procedure of the saddle winch.
FIG. 5 is a graph showing a calculation example in an optimum feed length calculation unit of the saddle winch control device.
FIG. 6 is a graph showing an example of control in a winch control unit of the saddle winch control device.
FIG. 7 is a configuration diagram showing a first saddle wire control unit when the first saddle winch is driven by a hydraulic motor.
[Explanation of symbols]
1 Supply ship
2 Receiving ship
3 Spun wire
4 Refueling hose
5A-5C First to third pulleys
5D auxiliary pulley
6A-6C 1st to 3rd saddle wires
7A-7C 1st to 3rd saddle winches
12 Span winch
13 Tension adjusting device
19 Riding wire
21 Saddle wire controller
22A to C 1st to 3rd winch drive motor
23A ~ C Winch drum
30 First Saddle Wire Control Unit
31 Wire tension sensor
34 Tension control calculation unit
35 First wire length calculator
40 Second saddle wire controller
41 Optimum feed length calculator
42 Second wire length calculator
44 Second saddle winch controller
50 Third saddle wire controller
52 Third wire length calculator

Claims (6)

A span wire erected between a supply ship and a receiving ship is supported by a saddle wire with a supply hose movably supported by a saddle at a plurality of locations via saddles, and a saddle wire whose tip is connected to each of the dynamic pulleys. When controlling the suspension position of the replenishment hose through the winch,
If the feeding wire length of the longest saddle wire connected to the most advanced moving pulley exceeds the feeding start length at which each moving pulley other than the most advanced moving pulley starts moving, the longest saddle fed beyond the feeding start length. A suspension position control method for an offshore replenishment hose, characterized in that the supply wire length of each saddle wire is controlled based on a function having the wire supply wire length as a parameter. Among the saddle wires whose feeding wire length is shorter than that of the longest saddle wire, the tip portion is connected to the tip side moving pulley supported by the span wire, and the auxiliary portion is disposed adjacent to the saddle winch side of the tip side moving pulley at the intermediate portion. When controlling the intermediate suspension saddle wire that supports the moving pulley,
After the feeding wire length of the longest saddle wire exceeds the feeding start length of the tip side pulley, the feeding of the intermediate suspension span wire is started.
When the length of the longest saddle wire is longer than the adjustment start length for adjusting the movement of the auxiliary pulley, based on a function using as a parameter the length of the longest saddle wire fed beyond the adjustment start length. The suspension position control method for an offshore supply hose according to claim 1, wherein the feeding wire length of the intermediate suspension saddle wire is controlled. With the supply hose connected to the receiving ship, the tip is connected to the most advanced moving pulley, the connecting wire is connected and fixed to the receiving ship, and the most advanced moving pulley is held at a fixed position on the span wire.
3. The suspension position control method for an offshore supply hose according to claim 1, wherein the saddle winch of the longest saddle wire is controlled so that the tension of the longest saddle wire is constant. A span wire laid between a supply ship and a receiving ship, a plurality of movable pulleys supported movably on the span wire, a supply hose supported by suspension on each of the movable pulleys via a saddle, An offshore replenishing device comprising a saddle wire coupled to each of the movable pulleys and wound around a saddle winch,
Wire length detection means for detecting the feeding wire length of each saddle wire;
When the wire length detecting means detects that the feeding wire length of the longest saddle wire connected to the most advanced moving pulley exceeds the feeding start length at which each moving pulley other than the leading edge starts moving, the feeding start is started. A saddle wire control device having an optimum payout length calculation unit for calculating the payout wire length of each saddle wire based on a function having the payout wire length of the longest saddle wire drawn beyond the length as a parameter;
An offshore replenishing device, wherein each saddle winch is controlled by the saddle wire control device. Of the saddle wires whose feeding wire length is shorter than that of the longest saddle wire, the tip portion is connected to the tip side moving pulley supported by the span wire, and is arranged adjacent to the saddle winch side in the middle portion than the tip side moving pulley. Provide a saddle wire for intermediate suspension to support the auxiliary pulley,
After the length of the longest saddle wire exceeds the start length of the leading pulley, the leading wire length of the longest saddle wire is adjusted to When the adjustment start length for adjusting the movement is exceeded, the feeding wire length of the saddle wire for intermediate suspension is controlled based on a function using the feeding wire length of the longest saddle wire drawn beyond the adjustment starting length as a parameter. The offshore replenishing device according to claim 4, which is configured as described above. With the supply hose connected to the receiving ship, the tip is connected to the most advanced moving pulley and the base end is connected and fixed to the receiving ship so that the cutting edge pulley is held at a fixed position on the span wire. Wire for
6. The offshore replenishment according to claim 4 or 5, wherein the saddle wire control device controls the saddle winch so that the tension of the longest saddle wire is constant based on the detection value of the wire tension detecting means. apparatus.

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