SG11201809382VA - Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm - Google Patents

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property :::` , 111111111111111111 111111111101011111001010111110101111111111111111111011110111111 Organization International Bureau (10) International Publication Number 03 (43) International Publication Date .....•\"\" WO 2017/203004 Al 30 November 2017 (30.11.2017) WIPO I PCT (51) International Patent Classification: Simone de Beauvoir, 59000 LILLE (FR). PELLETIER, B67D 9/02 (2010.01) Frederic; 22, rue de la Planche Barrault, 89100 SENS (FR). (21) International Application Number: (74) Agent: SANTARELLI; 49, avenue des Champs-Elysées, PCT/EP2017/062688 75008 Paris (FR). (22) International Filing Date: (81) Designated States (unless otherwise indicated, for every 24 May 2017 (24.05.2017) kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, (25) Filing Language: English CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, (26) Publication Language: English DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, (30) Priority Data: KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, 1654638 24 May 2016 (24.05.2016) FR MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, (71) Applicant: FMC TECHNOLOGIES SA [FR/FR]; Route PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, des Clerimois, 89100 SENS (FR). SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (72) Inventors: VANNESSON, Adrien; 3, rue Pierre Castets Apt 155, 89100 SENS (FR). BESSET, Pierre; 25, allee (54) Title: MOTION CONTROL DEVICE FOR AN ARTICULATED FLUID-LOADING ARM, ACQUISITION AND CALCU- LATION METHOD AND DEVICE THEREFOR, AND ARTICULATED FLUID LOADING ARM , 41 Behavior Prediction Position and orientation [ measurement Generation of the Vibration damping signal measurement Planning of movements: jerk-limited trajectories , Program for compensating for the errors resulting Controller - actuators - Loading arm from the calibration 2 f 39 27-29 1 Wind Prediction of the movements , Position and Relative ' -..— Position and orientation measurement position orientation measurement A A Floating structure (manifold) 1 Floating structure (loading arm) Fig. 2 36 vi XN...... 7- Ocean N, 22 7r (57) : Device for controlling the movement of one of the ends of an articulated fluid loading arm from a storage position to a 0 target pipe (35) and from this target pipe (35) to the storage position, said arm comprising a fluid transfer line equipped at this end with M a coupling system (26), the latter being adapted to be coupled to the target pipe (35) for the transfer of the fluid, which device comprises 0 actuators (27-29) for controlling the movement of the arm in space from the storage position until the coupling system (26) is positioned --.., \" in front of the target pipe (35) for its coupling to the latter, and from the target pipe (35) to the storage position. This device includes Ir- calculation means (41) adapted for: - monitoring in real time the movement of the coupling system (26); - generating, in real time, from C the last determined position of the coupling system (26) a trajectory of movement of the coupling system (26) in the direction of the ei C [Continued on next page] WO 2017/203004 Al MIDEDIMOMOIDEIRMEM001010111010111iNVOIS (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Declarations under Rule 4.17: — of inventorship (Rule 4.17(iv)) Published: — with international search report (Art. 21(3)) target pipe (35) or the storage position, based on a dynamic jerk-limited motion law; - calculating command instructions each of the actuators (27-29) in order to control the movement of the coupling system (26) based on this motion law. to be given to