As subsea structures get larger and more complex, landing speed of subsea structures becomes an increasingly important topic. Cranemaster® has been used extensively to reduce motion for subsea lifting operations. Boom tip movements are picked up by the stroke of the Cranemaster® unit and thereby limiting the load movements.
Janela operacional limitada para alcançar a velocidade de assentamento vertical necessária.
Estruturas com limitações quanto à velocidade de assentamento. Exceder tais limites pode causar sobrecarga nas estruturas.
Assentamento de estruturas com tolerância angular restrita.
Rápida inclinação lateral do navio durante o assentamento de cargas pesadas.
Redução da velocidade de assentamento.
Possibilidade de manter a tensão no cabo durante a fase de assentamento.
Redução das cargas de pico em caso de re-içamentos.
Prevenção da inclinação lateral rápida do navio durante o assentamento de cargas pesadas.
Cranemaster® is reducing landing speed for seabed structure.
Subsea landing speed with and without Cranemaster®
Manifold toal area: 1300m2 • Manifold weight: 829T • Significant wave height (Hs): 1.5m • Wave period (Tz): 8sec.
Two 700T Cranemaster® units are used in parallel. Actual observed forces and movements corresponded well to the Orcaflex simulation.
Without Cranemaster® (to the right):
Maximum landing speed = -0,7 m/s
Maximum crane tension = 2000 ton
With Cranemaster® (to the left):
Maximum landing speed = -0,1 m/s
Maximum crane tension = 840 ton
No slack observed in the rigging
Subsea landing of structure using Cranemaster®
Source: Subsea 7, Chevron
Notice the stroke.
Notice the complete lack of vertical motion on the object.
Cranemaster® will be more efficient for loads with high drag forces and large added mass such as manifolds, mud mats, protection covers and suction anchors. It will be less effective for objects with a small horizontal area such as spool systems.
Since the forces preventing the object from movements are dependent of velocity and acceleration, the performance of Cranemaster® will decrease with increased wave periods.
Cranemaster® will itself have a resonance frequency which may be close to the wave periods. This may cause increased motion and velocity, and pre-calculation and/or system simulations are therefore important especially for objects with low drag.
Tuning and performance
Cranemaster® should have a flat spring versus stroke curve to minimize spring forces. Dampening forces from Cranemaster® should be carefully controlled.
A reduction in landing speed from 0-95% can typically be obtained for a well-designed Cranemaster® setup. The efficiency of Cranemaster® is dependent on the average stiffness being less than the sum of forces acting on the load. As a consequence, Cranemaster® units used for passive heave compensation have large accumulators to reduce the average stiffness.
The performance of Cranemaster® will depend significantly on the hydrodynamic properties of the structure/object. The most important parameter is the vertical drag. A large drag area will give high reduction in landing speed.