CN101382042B - Ocean floating drill platform string heave compensation device - Google Patents
Ocean floating drill platform string heave compensation device Download PDFInfo
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- CN101382042B CN101382042B CN2008101577792A CN200810157779A CN101382042B CN 101382042 B CN101382042 B CN 101382042B CN 2008101577792 A CN2008101577792 A CN 2008101577792A CN 200810157779 A CN200810157779 A CN 200810157779A CN 101382042 B CN101382042 B CN 101382042B
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Abstract
The invention discloses a novel drill stem heave compensation device for an ocean floating type drilling platform. A combined type hydraulic cylinder is adopted as a heave compensation hydraulic cylinder. The high-pressure hydraulic oil outputted from a hydraulic pump is led into a non-rod cavity of the inner casing of the combined type hydraulic cylinder through a compensation control valve, and therefore a controllable subsidiary force is provided for an outer casing piston rod. The controllable subsidiary force and the pressure of an accumulator acted by a non-rod cavity of the outer casing of the compensation hydraulic cylinder jointly form a support force for a hook load. The subsidiary force is controlled according to the heave movement of the platform, thereby improving the heave compensation effect of a conventional driven type system. According to the detected movement speed of the platform in the vertical direction, a control unit gives a control command to the hydraulic system so as to drive a piston of the compensation hydraulic cylinder to drive a sprocket to move, thereby compensating the heave movement of the platform under a chain or the chain action, and consequently enabling a cross beam and the hook to be in a static status relative to a hole bottom in the vertical direction within an allowable range. The drill stem heave compensation device can effectively control the consumption of the energy, reduce the operating cost of the system, and improve the compensation precision.
Description
Technical field
The present invention relates to the hydraulic control system that electrohydraulic control technology is a feature, relate in particular to a kind of marine drilling platform drill string heave compensator.
Background technology
Along with the exhaustion day by day of land resources, the strategic perspective of development of world economy just gathers on the ocean, and development ocean science and high-tech equipment are particularly important.In oil field, along with development of Chinese economy, particularly as the petrochemical industry and the rapid development of automobile industry of pillar industry, the contradiction that oil and natural gas is under-supply becomes increasingly conspicuous.Day by day exhausted in view of the land oil resource marches to the deep-sea and to become inexorable trend.Current, the offshore oil rig maximum operating water depth has surpassed 3000m, but also will continue to develop to darker direction.Under such depth condition, work, more harsh to the requirement of the each side of rig, and must adapt to some special circumstances that under deep water conditions, faced, many equipment need redesign and develop.
The drill string heave compensator is that the safety that ensures offshore drilling ship or semisubmersible drilling platform operation is carried out and increased work efficiency and one of requisite visual plant of quality.Semisubmersible drilling platform that deep sea drilling adopted and floating barge will produce periodic heave movement under the effect of wave, and drill string is pumped, cause the variation of shaft bottom the pressure of the drill, even make drill bit break away from the shaft bottom, the efficient that influence is crept into reduces drill bit and drilling rod life-span, produces the potential safety hazard of operation, even cause creeping into and being forced to stopping work, caused enormous economic loss.Therefore, in order to reduce the downtime, reduce drilling cost, floating drilling platform must be taked the suitable compensation measure to the drill string heave movement.
The fluid pressure type heave compensation system is used the most general on ocean floating type drilling platform, and form is many, can be divided into three kinds of forms according to its power presentation mode: active, passive type and semi-active type.
Active heave compensation system has compensation effect and stronger compliance preferably, but because the drill string quality is big, it is frequent to pump, so can consume lot of energy in the compensation process.
The passive type heave compensation system does not need system that energy additionally is provided in compensation process substantially, and system is simple, obtained using comparatively widely, but compensation effect is not really desirable, exists certain hysteresis.
The semi-active type heave compensation system is the advantage of the two comprehensively, but system architecture is comparatively complicated, and manufacturing cost is higher.
Summary of the invention
The objective of the invention is to provide a kind of heave compensator of floating offshore oil drilling platform, to satisfy the performance requirement of offshore oil drilling well.
For achieving the above object, general plotting of the present invention is to adopt composite hydraulic cylinder as the heave compensation hydraulic cylinder, high-pressure and hydraulic oil in the high pressure accumulator is led to the rodless cavity of combined type heave compensation hydraulic cylinder outer shell, thereby a hydraulic coupling of bearing the hook static load is provided; The rodless cavity that the high-pressure and hydraulic oil of hydraulic pump output is led to compound heave compensation hydraulic cylinder inner casing through compensating control valve, thereby provide the additional force that can control to internal cylinder piston rod, the hydraulic coupling of this power and the effect of heave compensation hydraulic cylinder outer shell rodless cavity provides support power to the hook load jointly.
The technical solution used in the present invention is to improve on the basis of the conventional passive type heave compensator that is made of hook, crossbeam, two combined type heave compensation hydraulic cylinders, tourist bus, chain, sprocket wheel, high pressure accumulators, has increased acceleration transducer, fuel tank, motor, hydraulic pump, hydraulic pump outlet one way valve, compensating control valve, inner casing rodless cavity pressure sensor, outer shell rod chamber pressure sensor, low pressure accumulator, governor valve, high pressure accumulator, repairing one way valve, Safety control valve, loss protecting valve and system control unit.Crossbeam and hook connect firmly, and link to each other with combined type heave compensation hydraulic cylinder with the tourist bus that connects firmly together by chain, setting pressure sensor on the rodless cavity of the rodless cavity of combined type heave compensation hydraulic cylinder outer shell and inner casing.The inner casing of combined type heave compensation hydraulic cylinder is 1: 3～1: 5 with the ratio of outer shell piston diameter.The inlet of hydraulic pump links to each other with fuel tank, and outlet links to each other with the P mouth of compensating control valve through one way valve; The A mouth of compensating control valve connects together with the T mouth and links to each other with fuel tank; The B mouth of compensating control valve links to each other with the inner casing rodless cavity of two combined type heave compensation hydraulic cylinders; The A mouth of loss protecting valve links to each other with the outer shell rodless cavity of two combined type heave compensation hydraulic cylinders, and the P mouth links to each other with the outlet of high pressure accumulator, repairing one way valve and the inlet of Safety control valve respectively; The inlet of repairing one way valve connects together with the outlet of Safety control valve and links to each other with fuel tank; One end of governor valve links to each other with the outer shell rod chamber of two combined type heave compensation hydraulic cylinders respectively, and the other end links to each other with low pressure accumulator; Control module is electrically connected with compensating control valve, loss protecting valve, SPEED CONTROL OF MOTOR signaling interface respectively, and obtains the pressure sensor that is installed on the combined type heave compensation hydraulic cylinder and the signal of telecommunication that is connected in the acceleration transducer on the platform.Hydraulic pump is connected with electrical machinery.Control module is the Industrial Personal Computer (IPC) or the single-chip microcomputer that have modulus A/D and digital-to-analogue D/A function switching signal.
The present invention compares with background technology, and the useful effect that has is:
1. the heave compensation hydraulic cylinder adopts composite construction in the system, high-pressure and hydraulic oil in the high pressure accumulator bears static load on the hook by the outer shell rodless cavity, hydraulic pump communicates with the inner casing rodless cavity through compensating control valve, overcome in the movement compensation process because frictional force and high pressure accumulator pressure change the dynamic loading that causes, thereby limited extra energy consumption effectively, and improved compensation effect.
2. lose suddenly when carrying when system, combined type heave compensation hydraulic cylinder piston rod can fast uplink, and outer shell rod chamber hydraulic oil flow increases to the flow of low pressure accumulator, reduces the speed of piston stroking upward thereby cause pressure to raise; This high pressure stop valve commutation that can promote to surge simultaneously, the pressure channel between cutoff high accumulator and the combined type heave compensation hydraulic cylinder; The pressure signal that outer shell rod chamber pressure sensor records exceeds allowed band, and control module sends the power supply that control instruction is cut off the loss protecting valve immediately, makes it be in closed condition.By above-mentioned triple protection measure, avoid causing serious accident to take place owing to losing to carry.
3. between high pressure accumulator and the combined type heave compensation hydraulic cylinder loss protecting valve has been installed; when system loses supply of electric power for a certain reason; the loss protecting valve resets under the effect of spring; oil circuit between cutoff high accumulator and the combined type heave compensation hydraulic cylinder avoids accident to take place.
4. the control module acceleration signal that can send according to the acceleration transducer of installing on the offshore boring island and the pressure signal of combined type heave compensation hydraulic cylinder, send instruction to adjustable frequency motor and compensating control valve, control flows to the hydraulic fluid flow rate of combined type heave compensation hydraulic cylinder inner casing rodless cavity, reduce of the influence of platform heave movement, and then make shaft bottom the pressure of the drill keep constant within the specific limits hook.
Description of drawings
Fig. 1 is the structural representation according to drilling column heave compensation device of marine floating type drilling platform proposed by the invention;
Fig. 2 is the hydraulic system principle figure of drilling column heave compensation device of marine floating type drilling platform proposed by the invention.
Among the figure: 1-hook, 2-crossbeam, 3-combined type heave compensation hydraulic cylinder, 4-tourist bus; the 5-chain, 6-sprocket wheel, 7-acceleration transducer, 8-fuel tank; the 9-hydraulic pump, 10-adjustable frequency motor, 11-hydraulic pump outlet one way valve, 12-compensating control valve; 13-inner casing rodless cavity pressure sensor, 14-outer shell rod chamber pressure sensor, 15-governor valve, 16-low pressure accumulator; the 17-high pressure accumulator, 18-repairing one way valve, 19-Safety control valve; 20-loss protecting valve, the 21-stop valve that surges, the 22-control module.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in the figure, crossbeam 2 connects firmly with hook 1, and links to each other with compensating hydraulic cylinder 3 with the tourist bus that connects firmly together by chain 5.Outer shell rod chamber pressure sensor 14 is installed and inner casing rodless cavity pressure sensor 13 is installed at the rod chamber of combined type heave compensation hydraulic cylinder 3 at rodless cavity.The inner casing of combined type heave compensation hydraulic cylinder 3 was got 1: 3～1: 5 with the ratio of outer shell piston diameter.Inner casing rodless cavity pressure sensor 13 is installed, at the outer shell rod chamber of combined type heave compensation hydraulic cylinder 3 outer shell rod chamber pressure sensor 14 is installed at the inner casing rodless cavity of combined type heave compensation hydraulic cylinder 3, acceleration transducer 7 connects firmly with platform; The inlet of hydraulic pump 9 links to each other with fuel tank 8, and outlet links to each other with the P mouth of compensating control valve 12 through one way valve 11; The A mouth of compensating control valve 12 connects together with the T mouth and links to each other with fuel tank 8; The B mouth of compensating control valve 12 links to each other with the inner casing rodless cavity of two combined type heave compensation hydraulic cylinders 3; The A mouth of stop valve 21 of surging links to each other with the outer shell rodless cavity of two combined type heave compensation hydraulic cylinders 3, and the P mouth of the stop valve 21 that surges links to each other with the A mouth of loss protecting valve 20; The P mouth of loss protecting valve 20 links to each other with the outlet of high pressure accumulator 17, repairing one way valve 18 and the inlet of Safety control valve 19 respectively; The outlet of the inlet of repairing one way valve 18 and Safety control valve 19 connects together and links to each other with fuel tank 8; One end of governor valve 16 links to each other with the outer shell rod chamber of two combined type heave compensation hydraulic cylinders 3 respectively, and the other end links to each other with low pressure accumulator 16; Control module 22 is electrically connected with the speed control signal interface of compensating control valve 12, loss protecting valve 20, adjustable frequency motor 10 respectively, and is connected with inner casing rodless cavity pressure sensor 13, outer shell rod chamber pressure sensor 14 and the signal of telecommunication that is connected in the acceleration transducer 7 on the platform.Hydraulic pump 9 and adjustable frequency motor 10 mechanical connections.Control module 22 is the Industrial Personal Computer (IPC) or the single-chip microcomputer that have modulus A/D and digital-to-analogue D/A function switching signal.High-pressure and hydraulic oil in the high pressure accumulator 17 bears static load on the hook by combined type heave compensation hydraulic cylinder 3 outer shell rodless cavities, hydraulic pump 9 communicates with the inner casing rodless cavity through compensating control valve 12, overcomes in the movement compensation process because the dynamic loading that the pressure variation causes in frictional force and the high pressure accumulator 17.Loss protecting valve 20 is installed between high pressure accumulator 17 and the combined type heave compensation hydraulic cylinder 3, cuts off oil circuit during dead electricity automatically, stops to the compensating hydraulic cylinder fuel feeding.The outer shell rod chamber of combined type heave compensation hydraulic cylinder 3 connects governor valve 15, prevents because the disconnected hook 1 hypervelocity upper punch that causes of taking off of drilling rod.The control mouth of stop valve 21 of surging links to each other with the rod chamber of combined type heave compensation hydraulic cylinder 3 outer shells, when piston rod exceeds the speed limit when up, elevated pressure stop valve 21 commutations that promote to surge, the interface channel of cutoff high accumulator 17 and combined type heave compensation hydraulic cylinder 3 avoids serious accident to take place.
Operating principle of the present invention is as follows:
The energising of loss protecting valve is in upper on-state during operate as normal; the stop valve that surges is in upper conducting state under the effect of spring; hydraulic oil in the high pressure accumulator 17 communicates with the outer shell rodless cavity of combined type heave compensation hydraulic cylinder 3, in order to support the static load on the hook.Be in position, a left side under the effect of spring if compensating control valve 12 does not have controlled signal, hydraulic pump is in unloading condition, and the inner casing of combined type heave compensation hydraulic cylinder 3 floats, not redeeming, and this moment, system was conventional passive type heave compensation system.Because in system of the present invention, the setting thrust of combined type heave compensation hydraulic cylinder 3 outer shell rodless cavities is less than the retraction thrust of hook load, piston rod will be in retracted state.
When the floating marine drilling platform sinks with wave, derrick can be with tourist bus 4 and combined type heave compensation hydraulic cylinder 3 to descend, the distortion of the drill string elasticity of elongation reduces, load on the hook 1 reduces, the piston of combined type heave compensation hydraulic cylinder 3 is overhanging, high pressure accumulator 17 hydraulic oil return pressures reduce, and balance each other with the hook load that has reduced.Be installed in the acceleration of motion that acceleration transducer 7 on the compensating hydraulic cylinder body detects tourist bus 4, and this signal is passed to control module 22.The pressure signal that while inner casing rodless cavity pressure sensor 13 and outer shell rod chamber pressure sensor 14 detect two chambeies also passes to control module 22.Control module 22 sends control instruction to compensating control valve 12 it is moved to left according to detected above-mentioned signal and according to formulating good control strategy, increase the flow area of P mouth to the B mouth, reduce the mobile damping that hydraulic pump 9 leads to combined type heave compensation hydraulic cylinder 3 inner casing rodless cavities, make inner casing rodless cavity pressure raise, offset because high pressure accumulator pressure reduces supporting capacity decline and the overhanging frictional force of piston rod that causes, thereby make hook 1 up with respect to platform, constant to keep the absolute position, load rises to original setting value simultaneously.
Otherwise, when the floating marine drilling platform rises with wave, derrick can be with tourist bus 4 and combined type heave compensation hydraulic cylinder 3 to rise, the distortion of the drill string elasticity of elongation increases, load on the hook 1 increases, the piston of combined type heave compensation hydraulic cylinder 3 retraction, high pressure accumulator 17 hydraulic oil return pressures raise, and balance each other with the hook load that has increased.Be installed in the acceleration of motion that acceleration transducer 7 on the compensating hydraulic cylinder body detects tourist bus 4, and this signal is passed to control module 22.The pressure signal that while inner casing rodless cavity pressure sensor 13 and outer shell rod chamber pressure sensor 14 detect two chambeies also passes to control module 22.Control module 22 sends control instruction to compensating control valve 12 it is moved to right according to detected above-mentioned signal and according to formulating good control strategy, increase the flow area of B mouth to the T mouth, reduce the mobile damping that combined type heave compensation hydraulic cylinder 3 inner casing rodless cavities lead to fuel tank 8, make inner casing rodless cavity pressure descend, offset because the frictional force that supporting capacity rises and piston rod bounces back that high pressure accumulator pressure raises and causes, thereby make hook 1 descending with respect to platform, constant to keep the absolute position, load falls back to original setting value simultaneously.
When system because the disconnected accident such as take off of drilling rod causes losing suddenly when carrying, and the piston rod of combined type heave compensation hydraulic cylinder 3 can fast uplink, and outer shell rod chamber hydraulic oil flow increases to the flow of low pressure accumulator 16, thereby causing pressure to raise reduces the speed of piston stroking upward; This pushed at high pressure stop valve 21 commutations of surging simultaneously, the pressure channel between cutoff high accumulator 17 and the combined type heave compensation hydraulic cylinder 3; The pressure signal that outer shell rod chamber pressure sensor 14 records exceeds allowed band, and control module 22 sends the power supply that control instruction is cut off loss protecting valve 20 immediately, makes it be in closed condition.By above-mentioned triple protection measure, avoid causing serious accident to take place owing to losing to carry.
When system lost supply of electric power for a certain reason, loss protecting valve 20 resetted under the effect of spring, the oil circuit between cutoff high accumulator 17 and the combined type heave compensation hydraulic cylinder 3.
The acceleration signal that control module 22 sends according to the acceleration transducer of installing on the offshore boring island 7 and the pressure signal of combined type heave compensation hydraulic cylinder 3, send instruction to adjustable frequency motor 10 and compensating control valve 12, control flows to the hydraulic fluid flow rate of combined type heave compensation hydraulic cylinder 3 inner casing rodless cavities.
The shortcoming that the present invention has overcome that traditional passive type heave compensation system compensatory reactionBu Changfanying speed is slow, high pressure accumulator pressure oscillation and frictional force cause the compensation effect difference. Because hydraulic pump does not only have bar chamber fuel feeding to the inner casing of little cylinder diameter, its power only is used for overcoming frictional resistance and system's inertia, has therefore effectively controlled the consumption of energy, has reduced the running cost of system, improve compensation precision, had advantage simple in structure, that energy consumption is low, effective.
Claims (7)
1. drilling column heave compensation device of marine floating type drilling platform, comprise hook (1), crossbeam (2), combined type heave compensation hydraulic cylinder (3), tourist bus (4), chain (5), sprocket wheel (6), crossbeam (2) connects firmly with hook (1), and link to each other with combined type heave compensation hydraulic cylinder (3) with the tourist bus that connects firmly together by chain (5), it is characterized in that this device also comprises; Acceleration transducer (7), fuel tank (8), adjustable frequency motor (10), hydraulic pump (9), hydraulic pump outlet one way valve (11), compensating control valve (12), inner casing rodless cavity pressure sensor (13), outer shell rod chamber pressure sensor (14), low pressure accumulator (16), governor valve (15), high pressure accumulator (17), repairing one way valve (18), Safety control valve (19), loss protecting valve (20), stop valve (21) and control module (22) surge, inner casing rodless cavity at combined type heave compensation hydraulic cylinder (3) is installed inner casing rodless cavity pressure sensor (13), outer shell rod chamber at combined type heave compensation hydraulic cylinder (3) is installed outer shell rod chamber pressure sensor (14), connects firmly acceleration transducer (7) on platform; The inlet of hydraulic pump (9) links to each other with fuel tank (8), and the outlet of hydraulic pump (9) links to each other through the P mouth of one way valve (11) with compensating control valve (12); The A mouth T mouth of compensating control valve (12) connects together and links to each other with fuel tank (8); The B mouth of compensating control valve (12) links to each other with the inner casing rodless cavity of two combined type heave compensation hydraulic cylinders (3); The A mouth of stop valve (21) of surging links to each other with the outer shell rodless cavity of two combined type heave compensation hydraulic cylinders (3), and the P mouth of the stop valve that surges (21) links to each other with the A mouth of loss protecting valve (20); The P mouth of loss protecting valve (20) links to each other with the outlet of high pressure accumulator (17), repairing one way valve (18) and the inlet of Safety control valve (19) simultaneously; The outlet of the inlet of repairing one way valve (18) and Safety control valve (19) connects together and links to each other with fuel tank (8); One end of governor valve (15) links to each other with the outer shell rod chamber of two combined type heave compensation hydraulic cylinders (3) respectively, and the other end links to each other with low pressure accumulator (16); Control module (22) is electrically connected with the speed control signal interface of compensating control valve (12), loss protecting valve (20), adjustable frequency motor (10) respectively, and is connected with inner casing rodless cavity pressure sensor (13), outer shell rod chamber pressure sensor (14) and the signal of telecommunication that is connected in the acceleration transducer (7) on the platform.
2. drilling column heave compensation device of marine floating type drilling platform according to claim 1, it is characterized in that, combined type heave compensation hydraulic cylinder (3) adopts composite construction, high pressure accumulator (17) bears static load on the hook (1) by the outer shell rodless cavity, hydraulic pump (9) communicates with the inner casing rodless cavity through compensating control valve (12), overcomes the dynamic loading in the movement compensation process.
3. drilling column heave compensation device of marine floating type drilling platform according to claim 1 is characterized in that, described control module (22) is the Industrial Personal Computer (IPC) or the single-chip microcomputer that have modulus A/D and digital-to-analogue D/A function switching signal.
4. drilling column heave compensation device of marine floating type drilling platform according to claim 1; it is characterized in that; loss protecting valve (20) is installed between high pressure accumulator (17) and the combined type heave compensation hydraulic cylinder (3); automatically cut off oil circuit during dead electricity, stop to combined type heave compensation hydraulic cylinder (3) fuel feeding.
5. drilling column heave compensation device of marine floating type drilling platform according to claim 1 is characterized in that, the outer shell rod chamber of combined type heave compensation hydraulic cylinder (3) connects governor valve (15), prevents because disconnected hook (1) the hypervelocity upper punch that causes of taking off of drilling rod.
6. drilling column heave compensation device of marine floating type drilling platform according to claim 1, it is characterized in that, the control mouth of stop valve (21) of surging links to each other with the rod chamber of combined type heave compensation hydraulic cylinder (3) outer shell, when piston rod exceeds the speed limit when up, elevated pressure stop valve (21) commutation that promotes to surge, the interface channel of cutoff high accumulator (17) and combined type heave compensation hydraulic cylinder (3).
7. drilling column heave compensation device of marine floating type drilling platform according to claim 1 is characterized in that, the inner casing of combined type heave compensation hydraulic cylinder (3) is 1: 3～1: 5 with the ratio of outer shell piston diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101577792A CN101382042B (en) | 2008-10-17 | 2008-10-17 | Ocean floating drill platform string heave compensation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101577792A CN101382042B (en) | 2008-10-17 | 2008-10-17 | Ocean floating drill platform string heave compensation device |
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| CN101382042A CN101382042A (en) | 2009-03-11 |
| CN101382042B true CN101382042B (en) | 2011-03-16 |
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| CN2008101577792A Expired - Fee Related CN101382042B (en) | 2008-10-17 | 2008-10-17 | Ocean floating drill platform string heave compensation device |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101798909B (en) * | 2010-04-01 | 2012-02-22 | 中国石油大学(华东) | Drilling column heave compensation device of marine floating type drilling platform |
| US8651190B2 (en) * | 2010-10-28 | 2014-02-18 | Hydril Usa Manufacturing Llc | Shear boost triggering and bottle reducing system and method |
| CN102912778B (en) * | 2011-08-05 | 2014-11-12 | 四川宏华石油设备有限公司 | Locking device and hydraulic control system thereof |
| CN102305039B (en) * | 2011-08-15 | 2014-04-23 | 四川宏华石油设备有限公司 | Continuous oil pipe heave compensation device |
| CN104005715A (en) * | 2014-05-07 | 2014-08-27 | 宝鸡石油机械有限责任公司 | Distance increasing type driving heave compensation device |
| NL2013680B1 (en) * | 2014-10-24 | 2016-10-05 | Itrec Bv | Offshore drilling system, vessel and method. |
| CN108026759A (en) * | 2015-04-21 | 2018-05-11 | 越洋塞科外汇合营有限公司 | The motion compensation of drilling rod |
| CN105649560B (en) * | 2016-03-31 | 2018-05-04 | 中国石油大学(华东) | Marine floating type drilling water-separation pipe flexible suspender |
| CN106023775B (en) * | 2016-07-18 | 2019-01-18 | 天津优瑞纳斯液压机械有限公司 | The training system of hydraulic part in a kind of ocean lifting platform simulation device |
| CN107191417B (en) * | 2017-04-06 | 2018-12-14 | 武汉船用机械有限责任公司 | A kind of wave compensating device and its compensating cylinder hydraulic control system |
| CN112046708B (en) * | 2020-09-16 | 2023-01-31 | 中国石油大学(华东) | Hyperstatic-prevention lifting device and offshore platform lifting method |
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| US5209302A (en) * | 1991-10-04 | 1993-05-11 | Retsco, Inc. | Semi-active heave compensation system for marine vessels |
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