| 摘要 |
<p>Methods and techniques related to the control of pipelaying operation from a self-propelled reel pipelaying vessel (10). The methods are concerned with 1) controlling pipeline geometry as a function of pipe (p) entry angle into the water and tension on the pipeline; 2) monitoring the excursion of the pipeline outside certain defined limits and controlling the pipeline geometry based on such measured excursions; and 3) compensating for pipeline induced turning moments which would otherwise tend to draw the pipelaying vessel (10) off course and off the predetermined pipeline right of way. </p> |
