Semi-submersible, directionally controlled drilling unit

摘要

A drilling unit is disclosed which incorporates a submersible streamlined hull supporting a streamlined upper hull above the surface of the water by support columns and trusses. The unit is directionally controlled by transverse thrusters and in-line propulsion screws in the submersible hull which are operated by a control system to maintain station keeping over the wellhead at an optimum heading for minimizing the effects of environmental forces such as wind, current and wave action. The control system senses the vessel's heading and surge and sway motions with respect to the wellhead reference and converts this information into error signals. The bow and stern thrusters and in-line propulsion screws are then operated to produce thrust forces which reduce the respective errors. In response to the generation of a stern thrust the control system iteratively calculates a change in the bow target point position on the target circle which will make the stern thrust trend toward zero.