Method for lift compensation
A method for lift compensation of an item ( 12 ) which is connected to a vessel ( 1 ) by means of a rope ( 4 ) which is coiled around the rope drum ( 6 ) of a lifting device ( 2 ), the lifting device ( 2 ) being provided with a heave compensator ( 20 ), a controller ( 30 ) of the heave compensator ( 20 ) controlling the effect of the driving device ( 32, 34, 42 ) of the rope drum ( 6 ) on the basis of a heave term and a deviation term, the method comprising: —bringing a correction term into the heave compensation when, because of environmental forces, the force on the rope ( 4 ) falls outside a first limit (d, e); and—leaving the correction term out when the force on the rope ( 4 ) is within a second limit (c, f), the second limit (c, f) being equal to or different from the first limit (d, e).
1. A method for lift compensation of an item connected by a rope to a lifting device disposed on a vessel, wherein the lifting device comprises a heave compensator arranged to control a speed of a rope drum, the method comprising:
with the heave compensator, controlling the rope drum of the lifting device according to a calculated contribution comprising a heave term and a deviation term, wherein the deviation term is calculated from a difference between a current position of the item and a selected position of the item;
monitoring a force on the rope; and
bringing in a correction term into the calculated contribution for the heave compensator when the force is above a first upper limit or below a first lower limit, wherein the correction term is determined to feed rope faster from the rope drum when the force is above the first upper limit and to tighten the rope when the force is below the first lower limit.
2. The method of claim 1 , further comprising:
removing the correction term when the force is between a second lower limit and a second upper limit.
3. The method of claim 1 , wherein the deviation term in the calculated contribution of the heave compensator is left out as the correction term is brought in.
4. The method of claim 1 , wherein the deviation term in the calculated contribution of the heave compensator is assigned a reduced contribution as the correction term is brought in.
5. The method of claim 1 , wherein the heave compensator is controlling the rope drum to maintain the item in a selected position relative to a seabed.
6. The method of claim 1 , wherein the heave compensator is controlling the rope drum to maintain the item at a constant speed relative to the seabed.
7. The method of claim 1 , wherein the force on the rope is monitored by a load cell configured to monitor force on a rope sheave at an outer beam portion of the lifting device.
8. The method of claim 1 , wherein the correction term is calculated by adding a selected constant contribution for the heave compensator and a difference between the force on the rope and the weight of the item.
9. A lifting device disposed on a vessel, the lifting device comprising:
a rope drum;
a rope sheave;
a rope wrapped around the rope drum and extending over the rope sheave;
a load cell configured to monitor force on the rope sheave;
a heave compensator configured to control a drive device for the rope drum and comprising a programmable logic controller configured to:
receive force information from the load cell;
increase the rope feed from the rope drum based on the force on the rope sheave exceedings a maximum allowable force; and
tighten the rope on the rope drum based on when the force on the rope sheave dropping below a minimum allowable force.
10. The lifting device of claim 9 , wherein the heave compensator is configured to control the rope drum according to a calculated contribution comprising a heave term and a deviation term, wherein the deviation term is calculated from a difference between a current position of an item suspended from the rope and a selected position of the item.
11. The lifting device of claim 10 , wherein the programmable logic controller is configured to bring a correction term into the calculated contribution for the heave compensator based on the force on the rope being above a first upper limit or below a first lower limit; feed rope faster from the rope drum based on the force on the rope sheave exceeding the first upper limit; and tighten the rope on the rope drum based on the force on the rope sheave dropping below the first lower limit.
12. The lifting device of claim 11 , wherein the programmable logic controller is configured to remove the correction term based on the force being between a second lower limit and a second upper limit.
13. The lifting device of claim 11 , wherein the programmable logic controller is configured to leave the deviation term out of the calculated contribution of the heave compensator as the correction term is brought into the calculated contribution.
14. The lifting device of claim 11 , wherein the programmable logic controller is configured to assign a reduced contribution of the deviation term in the calculated contribution of the heave compensator as the correction term is brought into the calculated contribution.
15. The lifting device of claim 11 , wherein the correction term is calculated by adding a selected constant contribution for the heave compensator and a difference between the force on the rope and the weight of the item.
16. The lifting device of claim 9 , wherein the heave compensator is configured to control the rope drum to maintain the item in a selected position relative to a seabed.
17. The lifting device of claim 9 , wherein the heave compensator is configured to control the rope drum to maintain the item at a constant speed relative to a seabed.