• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The controller includes actuators (27-29) for controlling movement of the arm in space from a storage position to a coupling system of the arm in front of a tubing for connection thereto and from the tubing to the storage position, as well as calculation means (41) adapted to: follow in real time the movement of the system; generating, in real time, from the position of the system determined last, a path of movement of the system towards the tubing or the storage position, according to a limited jerk motion law; calculating control instructions to be given to each of the actuators to control the movement of the system according to this motion law.
    公开号:FR3051782A1
    申请号:FR1654638
    申请日:2016-05-24
    公开日:2017-12-01
    发明作者:Frederic Pelletier；Adrien Vannesson；Pierre Besset
    申请人:FMC Technologies SA；
    IPC主号:
    专利说明:

    The present invention generally relates to the articulated loading arms for the transfer of a fluid from one location to another (loading and / or unloading).
    By fluid is meant a liquid or gaseous product. These include liquefied natural gas, low and high pressure natural gas, petroleum or chemical products transferred between a ship and a wharf or between two vessels.
    More particularly, the present invention relates to movement control, positioning and connection devices (the term "connection") is also used for such loading arms to a target tubing or disconnection thereto. Generally, such an arm comprises a hinged pipe, mounted on a support, connected to a fluid supply pipe, and on which is mounted a first tube, said inner tube, via a portion of tube bent at 90 ° allowing the one of its ends a rotation along a vertical axis, and at the other end, along a horizontal axis. At the opposite end of the inner tube, is rotatably mounted along a horizontal axis, a second tube, said outer tube. At the end of the outer tube is mounted a coupling assembly. The coupling assembly thus has at least 3 degrees of freedom in space relative to the support and the movements following each of these degrees of freedom are controlled by hydraulic, electric or pneumatic actuators, such as jacks or motors.
    The displacement control is carried out either by means of a control interface controlled by an operator, or completely automatically.
    Such arms are known for example from patent applications FR2813872, FR2854156, FR2931451, FR2964093 and FR3003855.
    The present invention aims at providing a transfer arm of the same kind, but with improved performances with regard to the connection and disconnection processes, in particular in the context of a transfer of fluid at open sea, which has always proved difficult because of the relative movements of the floating structures between which the transfer must take place.
    It also aims to do without the known physical connection and guidance system for example applications FR2813872 and FR2854156.
    Another purpose of this invention is to provide an articulated transfer arm with a limited or no human interface, thus making it possible to connect or disconnect this arm in automatic or semi-assisted mode.
    The present invention proposes, for this purpose, a control device for moving one of the ends of an articulated fluid loading arm from a storage position to a target tubing and this target tubing to the storage position. said arm having a fluid transfer line equipped at this end with a coupling system, the latter being adapted to be connected to the target tubing for transferring the fluid, which device comprises actuators for controlling the movement of the arm in the space from the storage position, to present the coupling system in front of the target tubing for connection thereof and from the target tubing to the storage position, and this device being characterized in that it comprises calculation means adapted to: follow in real time the displacement of the coupling system; generating, in real time, from the position of the coupling system determined last, a displacement trajectory of the coupling system towards the target pipe or the storage position, according to a limited jerk movement law ; calculating control instructions to be given to each of the actuators to control the displacement of the coupling system according to this motion law.
    Thanks to these arrangements, it is possible to perform a connection or disconnection process to minimize or even cause no vibration or oscillations in the arm during its movement towards the target tubing, and leading further to other advantages, as will be seen in more detail below.
    According to other provisions of the present invention which may be implemented independently or in combination, in particular because of their ease of manufacture and use: the step of real-time monitoring of the displacement of the coupling system is translated by a real-time tracking, at least on a part of the displacement, of the relative position of the coupling system with respect to the target pipe, the generation of the trajectory being carried out from the relative position determined last; The step of real-time monitoring of the relative position of the coupling system with respect to the target tubing also results in a real-time monitoring of the relative orientation of the coupling system with respect to the target tubing; generating the trajectory from the last determined position and orientation; - When the target tubing is installed on a floating structure, and the loading arm installed on a fixed or floating structure, the calculation means are connected to measuring means for real-time monitoring of movements, in absolute or relative, of the floating structure or structures, according to the 6 degrees of freedom simultaneously; The measuring means are chosen from the group comprising inertial units, GPS, GPS adapted to perform relative position monitoring, cameras, inclinometers, accelerometers, potentiometers, sonars, laser trackers, tacheometers or a combination thereof; The computing means comprise prediction functions adapted to predict (i) the evolution of the displacement of the coupling system and / or (ii) the behavior of the articulated loading arm with respect to the limited jerk motion control which is applied; and are adapted to adjust the limited jerk motion law to account for the prediction; - The calculation means use, for monitoring, a kinematic model of the arm compensating real errors in dimensions, deformations and / or positions; - The kinematic model of the arm is obtained by a calibration procedure and adjustment of the parameters of a model of the loading arm incorporating these errors; The adjustment is performed by means of non-linear optimization algorithms or by driving a neural network or by any other method of the same type, from the measurements obtained by the calibration procedure; - The calculation means are adapted to apply control instructions to each of the actuators so that the displacement caused by each of the actuators is simultaneous and has the same duration; - The calculation means are adapted to apply control instructions to ensure limited jerk movement in the various control modes, namely in automatic or manual by the operator by means of a control interface, or in mode semi-automatic combining controls in automatic and manual; - The control device further comprises active vibration damping means adapted to superimpose a vibratory instruction to the control instructions applied to the actuators; - The calculation means are further adapted to generate the path so as to avoid collisions between the arm and a surrounding element or structure.
    The present invention also relates to a data acquisition and calculation device for a control device as defined above characterized in that it is adapted to: - monitor in real time the relative position of the connection / disconnection member relative to the target tubing; - Generate in real time, from the relative position generated last, a path of movement of the connection / disconnection member towards the target pipe according to a limited jerk motion law; calculating control instructions given to each of the actuators to control the displacement of the connection / disconnection member towards the target tubing according to this motion law. The invention furthermore relates to a method for transferring fluid by means of an arm as defined above, comprising the steps of: monitoring in real time the displacement of the coupling system; generating in real time, from the position of the coupling system determined last, a path of movement of the coupling system towards the target pipe or the storage position, according to a limited jerk motion law; calculating control instructions to be given to each of the actuators to control the displacement of the coupling system according to this motion law.
    Advantageously, the method also comprises the steps of: - predicting (i) the evolution of the displacement of the coupling system and / or (ii) the behavior of the articulated loading arm with respect to the motion control applied thereto, and to adjust the law of motion to limited jerk so that it takes into account the prediction. The invention finally relates to an articulated loading arm comprising a control device as defined above. The presentation of the present invention will now be continued by the detailed description of exemplary embodiments, given below by way of illustration and not limitation, with reference to the accompanying drawings.
    On these: - Figure 1 is a schematic perspective view of a loading arm equipped with a control device according to the invention, and - Figure 2 is a block diagram of the operation of the device according to Figure 1.
    Figure 1 very schematically shows a loading arm 2 equipped with a control device 1 according to the invention. The articulated loading arm is here represented in a very simplified way, and it is recalled in this regard that the control device according to the invention adapts to any articulated loading arm system, in particular to the marine loading arms of the patent applications. mentioned above. In general, this type of loading arm is known per se, and will not be described in great detail here.
    The loading arm of Figure 1 is a marine loading arm which has a base 21 connected to a fluid supply pipe which is below the surface of the structure 22 on which the base is fixed. In this case it is a floating structure, such as a ship, but according to a variant, it may be a dock. At the top of the base is rotatably articulated a bent tube 23, on which is articulated in turn a first tube, said inner tube 24 on which is articulated at its opposite end a second tube, said outer tube, 25 The end of the outer tube carries a coupling assembly 26 also allowing the transfer of fluid and the coupling system 26 ', also called coupler, is intended to be connected to a target pipe 35, here a manifold, disposed in the present example on a ship 36 represented very schematically. In the embodiment shown, in a manner known per se, the coupler 26 'also has three degrees of freedom in rotation with respect to the end of the outer tube 25. These three degrees of rotation are either free, so that an operator can freely adjust the angle of the coupler during the final approach phase for the connection of one to the manifold, or one or more of these rotations are controlled by actuators and connected to a controller, for a fully or partially automatic positioning, and / or a control interface to allow the operator to directly control the rotations during the final approach of the coupler. As will be described in more detail below, two of the rotations (double arrows D and E) are here driven, while the third (double arrow F) is free.
    In a manner known per se, the coupler 26 'has in the present embodiment, locking jaws 31 which are closed by an actuator 30 represented very schematically, to maintain the coupler 26' around the target tubing 35, once the connected.
    Assemblies formed of connections or rotary joints and elbows are implemented here, in particular of the type including one, a coupling or rotating joint whose two ends are each welded on one elbow, and the other, the meeting a first rotating connection, then an elbow, then a second rotating connection making a 90 ° angle with said first connection, then a bend. Another (such as that allowing the rotations according to the double arrows D, E, F in Figure 1) corresponds to the second completed by a third connection connected to the second by a bend. The rotating joints of these sets are, here, all cryogenic.
    The tube portions bent at 90 "described above and serving to connect the inner and outer tubes 24 to each other, the inner tube 24 to the base 21 and the coupling assembly 26 to the outer tube 25 are also part of the sets. of that type. At the articulated tubular portion 24, 25, are generally associated counterweight balancing systems (not shown here), associated or not with mechanisms of the balancing pantograph type. At the end of the transfer line equipped with the coupling assembly, an emergency release system (ERS) and a quick connect / disconnect system (QCDC) can be provided. for Quick Connect - Disconnect Coupler).
    We will now describe in greater detail, with reference to Figures 1 and 2, the actuation of such an arm equipped with the control device according to the present invention.
    In the invention as diagrammatically shown in FIGS. 1 and 2, actuators 27, 28, 29 are provided for each of the three articulations of the loading arm (symbolized by the double arrows A, B, C) to actuate directly or by through a transmission the inner tube, the outer tube and generate the rotation around a vertical axis. More specifically, a first actuator 27 is provided, here, between the top of the base 21 and the elbow tube 23, to pivot it horizontally relative to the base, a second actuator 28 is here provided between the end of the bent tube 23 and the inner tube 24 so as to rotate the inner tube vertically, and a third actuator 29 is here provided between the inner tube 24 and the outer tube 25 to rotate the latter vertically.
    The three actuators 27, 28, 29 and those driving the rotating joints of the assembly 26 around the double arrows D, E, F are here hydraulic cylinders shown very schematically in Figure 1. As a variant not shown one or more of Hydraulic cylinders are replaced by other types of hydraulic, pneumatic or electric actuators: motors, cylinders or any other type of actuator.
    The target tubing 35 provided on the ship 36, is here provided with a housing 34 enclosing a measuring means which is, in the present embodiment, an inertial unit associated with a GPS.
    The same goes for the base 21 (foot of the loading arm), which has here a housing 33 enclosing another inertial unit associated with a GPS.
    The calculating means of the control device are combined into an automaton 41 arranged in an electrical control cabinet 40.
    It is more specifically an industrial programmable logic controller (API or PLC in English for Programmable Logic Controller). It is adapted to process the signals received from measuring means, by means of preprogrammed algorithms. As a variant, it may be a data acquisition and calculation unit, of the industrial computer type, and more generally a data acquisition and calculation device.
    A hydraulic power unit 42 is provided to provide the actuators with the hydraulic energy necessary for their operation. It is controlled by the PLC 41. Of course, this is only valid in the case where the actuators considered are hydraulic type.
    The formed sets of inertial units and GPS are each respectively provided with a radio transmitter device 33A and 34A for transmitting a signal comprising the measurement information.
    Alternatively, the central unit 33 can be directly wired to the controller 41. The controller 41 is connected to a receiver device 40A, which is a radio receiver, adapted to communicate with the radio transmitter devices 33A and 34A, respectively connected to the housings 33 and 34 of each of the ships.
    The control device further includes a control interface 60 for an operator.
    Measurement systems, in this case in the form of an association of inertial units and GPS, thus provide the orientation (yaw, pitch, roll) and displacement (heave, yaw and caval) of each of the ships in real time. . In other words, these inertial and GPS units make it possible to follow the movements of the two ships according to the 6 degrees of freedom simultaneously.
    In an alternative embodiment, the inertial and GPS units may be replaced for example by a laser tracker, a camera, or any other measuring means for determining the relative position of the coupler with respect to the target tubing and, where appropriate , the relative orientation of one with respect to the other (in the case of floating structures as here) (see also supra for the means that can be used). It will also be noted that measuring means such as inertial units or the GPS can be equipped with additional means to move from a position tracking absoiu to follow-up. This may be for example a GPS type called "GPS moving base".
    The loading arm is, for its part, equipped with sensors arranged on the structure and / or the actuators, in order to be able to determine the configuration at any time. These are sensors of the inciomometer type 38 but may alternatively be encoders or other equivalent measuring means.
    By geometry calculations based on the information from the sensors installed on the arm (encoders, inciinométres or other sensor) and knowing the actual dimensions of the loading arm following a calibration described below, one can relatively simply calculate the theoretical position of the coupler 26 ', here relative to the foot of the arm. Thus, by combining the measurement of the arm configuration as well as the measurements of ship orientations and movements, the relative position of the coupler 26 'with respect to the target pipe 35 is determined by means of the automaton (in Cartesian coordinates).
    Indeed, it is provided by the above measures the relative position of the target pipe 35 relative to the base, the relative position of the coupler 26 'relative to the same base and, therefore, the relative position of The coupling assembly is also equipped, here, measuring means such as encoders and inciinométres, it is also here, also here the reiative orientation of the cutter 26. relative to the target tubing (whose orientation is determined by means of the inertial center of the housing 34).
    More precisely, the angular positions of the rotary joints allowing the rotations around the double arrows D and E are measured here.
    As detailed below, in the case of the use of a camera at the coupler and a target at the level of the tubing as the only means of measurement, the relative position measurement is made live, unlike this which is done in the case of the combination of the present embodiment of inertial units and GPS.
    The associations of measuring means (central and GPS for example) are used to gain precision and, consequently, safety, thanks to data fusion algorithms, such as Kalman filter or neural network. It also improves reliability.
    According to the present invention, the control programs of the automaton 41 serve to drive the loading arm along special trajectories, in particular characterized by their "softness". This is a limited jerk trajectory (derivative of the acceleration) which has the property of having a low frequency content with respect to the conventional trajectories, and thus of inducing fewer oscillations in the loading arm and, especially in the rotating joints of the coupling assembly.
    In addition, these trajectories can be calculated so as to take into account the vibratory frequencies of the loading arm, in order to avoid exciting them.
    Moreover, these trajectories according to the invention are characterized by their dynamic generation. They must indeed be able to be generated in real time to adapt to the environment (movement of the target tubing in particular). In other words, the trajectory generating automat is adapted to take into account the speed and the current acceleration of the loading arm in order to create a trajectory that will not create an acceleration discontinuity that could cause vibrations.
    Advantageously also, it is desirable that the trajectories of the rotating joints (that is to say when the trajectory of the coupler is decomposed to be injected into the different actuators of the arm) have the same duration, to "smooth" the movements of the coupler. The control programs of the PLC can also be parameterized so as to integrate such a synchronization function. The automaton must therefore be chosen so as to be fast enough to operate in real time. Regarding the position of the coupler, determined as indicated above, it should however be noted that: - the actual dimensions generally differ from the nominal dimensions. There is therefore an error on the estimation of the position of the coupler; the elements of the loading arm are deformed, and the deflections caused by the bending and torsion phenomena induce an additional error; thermal expansion also comes into play; and - the axes of rotation a priori collinear are not exactly.
    These errors accumulate and can total several tens of centimeters in practice.
    It is therefore envisaged, in the context of the present embodiment, a calibration (calibration in English) which is an experimental procedure which consists in finding a mathematical formula which makes it possible to compensate for these errors for a more precise positioning.
    This calibration procedure consists, in practice, in directly measuring the position of the coupler (for example by means of a laser tracker, a camera or any other suitable measuring means) for a large number of configurations of the arm. From these measurements, and using non-linear optimization algorithms (for example of the Levenberg-Maquardt type), the parameters of a model of the arm integrating the errors are adjusted. Another solution is to train a network of neurons from these measurements.
    In practice, the controller 41 includes a compensation program for errors determined during calibration.
    The control programs of the controller, which are described in more detail below, can thus comprise a kinematic model of the loading arm, in order to improve the precision of movement of this loading arm by a compensation program of the loading arms. errors from the calibration after the motion planning described above. Alternatively, in a simplified model, these control programs may only take into account theoretical parameters of the loading arm.
    In the case of the present embodiment of the invention, means are also provided for making a prediction of the evolution of the relative position of the coupler with respect to the target pipe, in order to be able to compensate for the delays associated with the chain of information and the dynamics of the arm. Such a prediction may be all the more important as the arm has a slow dynamic relative to the movements of the target tubing. Such means can implement autoregressive statistical models, a Fourier decomposition analysis or, preferably for their performance, neural networks and serve to adjust the motion law that follows the coupler.
    In practice, by using in a trajectory planning algorithm the orientation and the displacement (from the measurement of the movements made for the planning of the movements of the arm) predicted of the ship carrying the arm, it is also possible to benefit from possible inertial effects, in order to reduce the energy consumption of the arm and the stresses in the rotating joints.
    These prediction means are here further adapted to predict the dynamic behavior of the articulated loading arm with respect to the motion control applied thereto (control) to adjust the motion law of the coupler accordingly.
    In practice, these are based in particular on effective measures of movement of the arm, as described supra, as well as dimensional characteristics thereof.
    The present embodiment of the invention also implements an active damping program of the vibrations by means of the automaton. Such a program is used to dampen or even eliminate any vibration induced by external disturbances (wind ...).
    Advantageously, the actuators of the arm are used to eliminate these vibrations. In practice, the automaton is parameterized in order to superpose a vibratory instruction to the instructions of normal control of the actuators. This vibratory setpoint is adapted to create vibrations that are equal and opposite to the vibrations already present in the arm and measured, in order to cancel the latter.
    In the case of the present embodiment, the oscillations of the rotating and elbow joints of the coupling assembly 26 are, in particular, measured by sensor in order to use the resulting information for the active damping of their oscillations. The sensor may be an encoder, an inclinometer or any other equivalent measuring means.
    When the rotating joints of the assembly are not controlled by one or more actuators, one can act on its oscillations by moving the tube 25.
    In an alternative embodiment, if the actuators already present on the arm are not sufficient, additional actuators may be used, such as for example piezoelectric elements. These may for example be arranged on the tubes 24 and 25 or in the joints.
    In practice, the vibration signal is measured. To dampen or cancel it, a vibration is generated in phase opposition (phase shifted by 180 °) so that the sum is zero. This phase shift corresponds to a derivative term "damping". Depending on which part of the arm vibrates / oscillates, one or more actuators are used to generate the right vibration.
    Advantageously, a collision avoidance program can also be integrated into the automaton in order to avoid collisions between several loading arms, when this is the case, or with elements situated in the working zone of the loading arm.
    It will also be noted that the actuators 27, 28, 29 are connected to a controller 39, itself connected to the automaton 41. It is more precisely, here, a PID corrector (proportional, integrator, differentiator) generating the debit instructions.
    The valves for controlling the actuators have not been shown in the figure, for the sake of clarity.
    In an alternative embodiment, a feedback of the actuators to the controller can also be provided to identify if they have reached their desired position.
    It will also be noted that the hydraulic power unit 42 supplies the actuators with the hydraulic energy necessary for their operation. It is also controlled by the PLC via power relays, to control the start-up and shutdown of the hydraulic unit. The hydraulic unit comprises a pump (not shown) for pumping a hydraulic fluid to supply the actuators.
    This is of course only valid in the case of hydraulic actuators. The control interface 60 is connected to the controller to allow an operator to control the connection of the coupler to the target tubing. In practice it may be a simple button 61, as is the case in the present embodiment, for an automatic connection procedure.
    Alternatively, the button on the control interface 60 can be replaced by a joystick for manual connection, the optimal path being calculated from the instructions given by the operator.
    A semi-automatic connection can also be considered. The trajectory for the semi-automatic mode is defined by the automaton, the operator simply giving the instructions in advance or retreating along this trajectory (recalculated in real time).
    In practice, the automaton 41 therefore follows in real time the relative position of the coupler with respect to the target tubing, and here also their relative orientation, and then generates, in real time, from the relative position and orientation determined. lastly, a path of displacement of the coupler towards the target tubing according to the limited jerk movement law. It then calculates the control instructions to be given to each of the actuators to control the displacement of the coupler towards the target tubing from the storage position of the arm and following this motion law and the particular provisions mentioned above.
    It thus calculates in real time the remaining distances between the coupler and the target pipe according to the X, Y and Z axes, schematically represented in FIG.
    If these three distances are not zero, or equal to distances set as known reference distances for the connection (for example when the final approach is not performed by the PLC itself), the controller calculates the control instructions for each of the actuators of the arm so that their combined movements result in a movement of the coupler to bring the coupler of the target tubing along the three axes. The controller then applies the control instructions calculated for each actuator to the actuators. It also calculates in real time the remaining distances between this coupler and the target pipe according to the X, Y and Z axes. If these distances are still not zero or equal to the parameterized distances, the automaton recommences the calculations of the instructions for the actuators. and applies them until these distances are zero or equal to the parametric distances.
    If the three distances are zero or equal to the set distances, this means that the coupler is opposite the target pipe in the connection position. The automaton can also send, in particular as part of a complete automatic connection procedure, a command command to the actuator 30 of the coupler for clamping the coupler on the target pipe, then an instruction to disengage the actuators of the arm, in order to free the movements of the arm once the coupler connected and tightened on the target tubing.
    In the opposite direction, during the disconnection process (return of the coupler to its storage position), the limited jerk motion law is also applied to prevent vibrations being generated in the coupling assembly, which could, in particular, bump into the coupling assembly. the latter against the vessel carrying the target tubing 35 at the beginning of the return. In addition, the trajectory is defined to avoid any risk of collision with the target pipe 35 or any other element of the ship.
    The relative position of the coupler 26 'with respect to the target tubing 35 is therefore followed at the beginning of the return process to the storage position.
    Many other variants are possible depending on the circumstances and it is recalled in this regard that the present invention is not limited to the examples shown described.
    For example, in the case of a laser tracker, a laser device comprises a laser transmitter and a target, the device being adapted to determine, by means of a laser beam, the relative position of the coupler with respect to the target pipe. In another embodiment, it may be used for this purpose a camera and a target, such as a reflective pattern.
    Moreover, it is conceivable to use, for determining the relative position of the coupler with respect to the target pipe, only two inertial units, or equivalent means, without determining the configuration of the arm, in order to follow in real time this relative position then generate, in real time, a path of movement according to a limited jerk motion law.
    In addition, the loading arm may comprise one or more transfer lines with two or more sections connected to each other by the sealed joints defined above. The automaton can also be replaced, more generally, by a computer.
    It will be recalled moreover that the control device according to the invention fits on all the articulated loading arms, and that the adaptation of the control device according to the invention to any other type of loading system is within reach. of the skilled person.
    权利要求:
    Claims (17)
    [1" id="c-fr-0001]
    A control device for moving one of the ends of an articulated fluid loading arm from a storage position to a target tubing (35) and from that target tubing (35) to the storage position, said arm having a fluid transfer line equipped at this end with a coupling system (26), the latter being adapted to be connected to the target pipe (35) for the transfer of the fluid, which device comprises actuators (27). -29) for controlling the movement of the arm in space from the storage position, until the coupling system (26) is presented in front of the target tubing (35) for connection thereto and from the tubing target (35) towards the storage position, and this device being characterized in that it comprises calculation means (41) adapted to: follow in real time the displacement of the coupling system (26); generating, in real time, from the position of the coupling system (26) determined last, a displacement path of the coupling system (26) towards the target pipe (35) or the storage position according to a law of limited jerk motion; calculating control instructions to be given to each of the actuators (27-29) to control the displacement of the coupling system (26) according to this motion law.
    [2" id="c-fr-0002]
    2. Device according to claim 1, characterized in that the step of real-time monitoring of the displacement of the coupling system (26) results in a real-time monitoring, at least on part of the displacement, of the relative position. of the coupling system (26) with respect to the target pipe (35), the generation of the trajectory being carried out from the relative position determined last.
    [3" id="c-fr-0003]
    3. Device according to claim 2, characterized in that the step of real-time monitoring of the relative position of the coupling system (26) relative to the target tubing (35) is also reflected by a real-time monitoring the relative orientation of the coupling system (26) relative to the target tubing (35), the generation of the trajectory being made from the last determined position and orientation.
    [4" id="c-fr-0004]
    4. Device according to any one of claims 1 to 3, characterized in that when the target pipe (35) is installed on a floating structure, and the loading arm installed on a fixed or floating structure, the calculation means are connected to measuring means for real-time monitoring of movements in absolute or relative, or the floating structures, according to the 6 degrees of freedom simultaneously.
    [5" id="c-fr-0005]
    5. Device according to claim 4, characterized in that the measuring means are selected from the group comprising inertial units, GPS, GPS adapted to perform relative position monitoring, cameras, inclinometers, accelerometers, potentiometers, sonars, laser trackers, tacheometers or a combination thereof.
    [6" id="c-fr-0006]
    6. Device according to any one of claims 1 to 5, characterized in that the computing means comprise prediction functions adapted to predict (i) the evolution of the displacement of the coupling system (26) and / or (ii) ) the behavior of the articulated loading arm with respect to the limited jerk motion control applied to it; and are adapted to adjust the limited jerk motion law to account for the prediction.
    [7" id="c-fr-0007]
    7. Device according to any one of claims 1 to 6, characterized in that the calculation means use, for monitoring, a kinematic model of the arm compensating real errors in dimensions, deformations and / or positions.
    [8" id="c-fr-0008]
    8. Device according to claim 7, characterized in that the kinematic model of the arm is obtained by a calibration procedure and an adjustment of the parameters of a model of the loading arm incorporating these errors.
    [9" id="c-fr-0009]
    9. Device according to claim 8, characterized in that the adjustment is performed by means of nonlinear optimization algorithms or by driving a neural network from the measurements obtained by the calibration procedure.
    [10" id="c-fr-0010]
    10. Device according to any one of claims 1 to 9, characterized in that the calculation means are adapted to apply control instructions to each of the actuators (27-29) so that the displacement caused by each of the actuators be simultaneous and have the same duration.
    [11" id="c-fr-0011]
    11. Device according to any one of claims 1 to 10, characterized in that the calculation means are adapted to apply control instructions to ensure limited jerk movement in the various control modes, namely automatically or automatically. manual by the operator by means of a command interface, or in semi-automatic mode combining the commands in automatic and manual.
    [12" id="c-fr-0012]
    12. Device according to any one of claims 1 to 11, characterized in that the control device further comprises active vibration damping means adapted to superimpose a vibratory instruction to the control instructions applied to the actuators (27-). 29).
    [13" id="c-fr-0013]
    13. Device according to any one of claims 1 to 12, characterized in that the calculation means are further adapted to generate the path so as to avoid collisions between the arm and a member or a surrounding structure.
    [14" id="c-fr-0014]
    14. A data acquisition and calculation device (41) for a device according to any one of the preceding claims, characterized in that it is adapted to: - follow in real time the displacement of the coupling system; generating in real time, from the position of the coupling system determined last, a path of movement of the coupling system towards the target pipe or the storage position, according to a limited jerk motion law; calculating control instructions to be given to each of the actuators to control the displacement of the coupling system according to this motion law.
    [15" id="c-fr-0015]
    15. The method of calculation for a data acquisition and calculation device, according to the preceding claim, characterized in that it comprises the calculation steps consisting of: monitoring in real time the displacement of the coupling system; generating in real time, from the position of the coupling system determined last, a path of movement of the coupling system towards the target pipe or the storage position, according to a limited jerk motion law; calculating control instructions to be given to each of the actuators to control the displacement of the coupling system according to this motion law.
    [16" id="c-fr-0016]
    16. The method of claim 15, characterized in that it further comprises the steps of predicting (i) the evolution of the displacement of the coupling system and / or (ii) the behavior of the articulated loading arm with respect to the motion control applied to it, and to adjust the motion law to limited jerk so that it takes into account the prediction.
    [17" id="c-fr-0017]
    Articulated loading arm comprising a fluid transfer line equipped at one end with a coupling system adapted to be connected to a target pipe, and a control device according to any one of claims 1 to 13.
    类似技术:
    公开号 | 公开日 | 专利标题
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    同族专利:
    公开号 | 公开日
    CN109562929A|2019-04-02|
    JP2019518669A|2019-07-04|
    US10822223B2|2020-11-03|
    FR3051782B1|2018-07-06|
    CA3023856A1|2017-11-30|
    SG11201809382VA|2018-11-29|
    WO2017203004A1|2017-11-30|
    EP3464167A1|2019-04-10|
    AU2017270336A1|2018-12-20|
    BR112018073537A2|2019-03-19|
    CN109562929B|2021-12-10|
    RU2722125C1|2020-05-26|
    US20190084824A1|2019-03-21|
    JP6952059B2|2021-10-20|
    KR20190028384A|2019-03-18|
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    法律状态:
    2017-04-13| PLFP| Fee payment|Year of fee payment: 2 |
    2017-12-01| PLSC| Publication of the preliminary search report|Effective date: 20171201 |
    2018-04-11| PLFP| Fee payment|Year of fee payment: 3 |
    2020-04-14| PLFP| Fee payment|Year of fee payment: 5 |
    2021-04-26| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1654638A|FR3051782B1|2016-05-24|2016-05-24|DISPLACEMENT CONTROL DEVICE, ACQUISITION AND CALCULATION METHOD AND DEVICE THEREFOR, AND ARTICULATED FLUID LOADING ARM COMPRISING SAME.|
    FR1654638|2016-05-24|FR1654638A| FR3051782B1|2016-05-24|2016-05-24|DISPLACEMENT CONTROL DEVICE, ACQUISITION AND CALCULATION METHOD AND DEVICE THEREFOR, AND ARTICULATED FLUID LOADING ARM COMPRISING SAME.|
    RU2018144626A| RU2722125C1|2016-05-24|2017-05-24|Motion control device for hinged loading hose for fluid medium, method for collecting and calculating data and device for implementing such method, as well as hingedly connected loading hose for fluid medium|
    AU2017270336A| AU2017270336A1|2016-05-24|2017-05-24|Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm|
    KR1020187036835A| KR20190028384A|2016-05-24|2017-05-24|Motion control device for articulated fluid loading arm, acquisition and calculation method and apparatus thereof, and articulated fluid loading arm|
    CN201780031877.9A| CN109562929B|2016-05-24|2017-05-24|Motion control device for articulated fluid loading arm, acquisition and calculation method and device thereof, and articulated fluid loading arm|
    EP17725953.8A| EP3464167A1|2016-05-24|2017-05-24|Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm|
    JP2018561712A| JP6952059B2|2016-05-24|2017-05-24|Motion control device for articulated fluid loading arm, acquisition / calculation method and device for this method, and articulated fluid loading arm|
    PCT/EP2017/062688| WO2017203004A1|2016-05-24|2017-05-24|Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm|
    US16/304,266| US10822223B2|2016-05-24|2017-05-24|Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm|
    CA3023856A| CA3023856A1|2016-05-24|2017-05-24|Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm|
    BR112018073537-0A| BR112018073537A2|2016-05-24|2017-05-24|device for controlling the movement of one end of an articulated fluid loading arm, data acquisition and calculation device, calculation method for the data acquisition and calculation device and articulated loading arm|
    SG11201809382VA| SG11201809382VA|2016-05-24|2017-05-24|Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm|
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