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类型南海深水油气田开发方案精选PPT课件.ppt

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    1、Start with Engineering, Focus on Solutions1上海利策科技有限公司April 29, 2022南海深水油气田开发方案Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions2内容提要深水油气田开发方案案例分析Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions3深水油气田开发方案1)设计基础2)开发方式的选择3)浮式生产平台的选择

    2、4)立管系统的选择5)外输方案的选择6)水下生产系统的考虑7)流动保障的考虑8)建造与安装资源Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions4设计基础1)油气藏数据/钻完井方案2)环境数据/设计准则3)土壤/地质条件4)周边设施5)开发计划Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions5开发方式的选择1)单井产量/井口数2)干式井口 Vs. 湿式井口3)

    3、钻井平台钻井 Vs. 生产平台钻井4)修井方式5)人工举升方式5Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions6浮式生产平台的选择1)浮式生产平台类型及特点2)浮式生产平台设计考虑3)浮式生产平台发展趋势6Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions7浮式生产平台 半潜式平台 FPSO 张力腿平台 单立柱平台Start with Engineering

    4、, Focus on SolutionsStart with Engineering, Focus on Solutions8半潜式生产平台Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions9浮式生产储油轮(FPSO) 上部模块 船体 系泊系统Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions10浮式生产储油轮(FPSO)Start with Engineeri

    5、ng, Focus on SolutionsStart with Engineering, Focus on Solutions11张力腿平台(TLP)Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions12张力腿平台(TLP)Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions13单立柱平台(SPAR)Start with Engineering, Focus o

    6、n SolutionsStart with Engineering, Focus on Solutions14单立柱平台(SPAR)Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions15浮式平台设计考虑 上部甲板负荷和面积要求 对浪/流的运动响应 系泊系统 储油能力 重复使用 费用Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions16浮式生产平台-发展趋势浮式平

    7、台现状在役数量单位:个分布数量(单位:个)墨西哥湾巴西挪威其他半潜式平台44818810单立柱平台1918001张力腿平台251612616Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions17浮式生产平台-发展趋势整体发展趋势系统简化,高可靠性因地制宜,保证经济性TLP张力筋腱与海底连接处,注重设计安全,消除自我解脱机制高干舷SPARTopside浮托开放式VS封闭中心井17Start with Engineering, Focus on SolutionsStart wit

    8、h Engineering, Focus on Solutions18浮式生产平台-发展趋势SEMI(半潜式平台)方形立柱+矩形沉箱深吃水(3341m)高干舷(1820m)应用Enterprise Independence Hub (8000ft WD, 18” SCR)Murphy Thunder Hawk (6100ft WD, 12” SCR)优势:设计简单,码头整装缺点:垂荡较大,不适合大尺度SCR(20+)和浅水区域18Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solution

    9、s19立管系统的选择1)深水立管类型及特点2)深水立管设计考虑3)深水立管发展趋势19Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions20深水立管系统 顶部张紧立管 (TTR) 钢悬链立管 (SCR) 柔性立管 混合立管系统Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions21顶部张紧立管 (TTR)Start with Engineering, Focus

    10、on SolutionsStart with Engineering, Focus on Solutions22钢悬链立管 (SCR)Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions23柔性立管Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions24混合立管系统Start with Engineering, Focus on SolutionsStart wit

    11、h Engineering, Focus on Solutions25深水立管设计关键 浮式平台类型/运动特性 浪/流运动响应特性 管径,长度,内/外压 设计寿命 连接装置 安装方法与能力 费用(经济性)Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions26立管发展趋势261)新材料应用:更高强度,耐腐蚀2)SCR:增加中间浮筒3)柔性管:非金属增强Start with Engineering, Focus on SolutionsStart with Engineering,

    12、 Focus on Solutions27外输方案的选择1)外输系统类型管道外输油轮外输油气混输2)天然气外输发展趋势FLNG+LNG船外输CNG船外输27Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions28LNG 外输系统Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions29LNG 外输系统Hegh LNG ABB Start with Engineerin

    13、g, Focus on SolutionsStart with Engineering, Focus on Solutions30CNG 外输系统Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions31水下生产系统的考虑1)水下井口的布置2)控制方式的选择3)水下采油树类型4)流动保障的考虑5)化学药剂注入方案6)单井计量方案7)水下工艺设施8)安装与操作方式31Start with Engineering, Focus on SolutionsStart with Engine

    14、ering, Focus on Solutions32流动保障的考虑1)管径 Vs. 输送压力2)高凝高粘油品输送(保温)3)水合物防治4)段塞与液体的处理(气液混输)5)腐蚀与磨蚀控制6)减阻措施(降粘、涂层、流型)7)停输、启动与事故控制8)通球清管与智能检测32Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions33建造与安装资源33 国内建造资源大连船舶重工烟台来福士海洋石油工程股份有限公司上海外高桥船厂其他 国内安装资源海洋石油工程股份有限公司上海打捞局其他Start

    15、with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions34案例分析1)设计基础2)总体方案3)流动保障4)浮式平台5)水下系统6)后续专题研究34Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions35设计基础 水深: 1500m 海域: 中国南海 离岸: 150 km 凝析气田: 天然气 XXX 亿立方米 设计寿命:25年Start with Engineering, Focu

    16、s on SolutionsStart with Engineering, Focus on Solutions36设计基础 环境条件 时间重 现 期(年)3s1min10min30min1h117.614.812.612.111.7527.823.419.819.118.51032.527.323.222.321.62538.232.127.326.325.55042.435.630.329.128.310046.539.133.231.931.0风速(m/s) 参数重现期(年)有效波高(m)最大波高(m)有效周期(s)跨零周期(s)最大周期(s)谱峰周期(s)12.9 5.0 8.7 7.

    17、2 11.0 12.2 55.8 10.0 11.2 9.3 14.2 15.8 107.2 12.3 11.8 9.8 14.9 16.6 258.8 15.2 12.2 10.2 15.5 17.2 5010.1 17.3 12.4 10.3 15.7 17.5 10011.3 19.4 12.5 10.4 15.9 17.6 重现期深度1年5年10年25年50年100年0m1.261.912.162.352.552.6710m1.231.812.012.202.332.4320m1.141.751.962.182.312.4350m0.591.191.431.701.872.04100m

    18、0.290.520.60.690.750.80150m0.250.380.420.470.490.52200m0.210.310.340.370.390.41300m0.170.250.270.30.310.33500m0.150.220.240.270.280.29流速(m/s)波浪(Jonswap)Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions37设计基础 配产方案前期开发(十年)后期开发(十年)年产量目标产气(108)Nm3XXXX(逐年递减)最大日生产能力最大产气(

    19、104)Nm3XXXX最大产液(104)m3XXXX最大产油(104)m3XXXX最大产水(104)m3XXXX单井日产量最大产气(104)Nm3XXXX最大产液(104)m3XXXX最大产油(104)m3XXXX最大产水(104)m3XXXX油气比(体积比)m3/MM Nm38080油水比(体积比)m3/m350.16最大关井压力MPa3535最大井口流动压力MPa2828Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions38设计基础Start with Engineerin

    20、g, Focus on SolutionsStart with Engineering, Focus on Solutions39总体方案方案一、 中心处理平台+水下生产系统 方案二、 井口平台+FPSO方案三、 井口处理平台+水下生产系统方案四、 水下生产系统回接到岸方案五、 水下生产系统回接到浅水中继平台 Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions40外输方案一:管道输出(油气分输)外输方案二:管道输出(油气混输)外输方案三:管道输出(气)+ 油轮外输(油)外输方案

    21、四:LNG外输(气)+ 油轮外输(油)外输方案Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions41流动保障 水下系统输送到岸上终端管径与输送压力可行性水下增压可行性水合物防治措施 段塞流管道腐蚀和防腐 水下系统输送到浮式平台后外输 小结Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions42流动保障-输送到岸上终端管径与输送压力可行性Start with Eng

    22、ineering, Focus on SolutionsStart with Engineering, Focus on Solutions43水下增压方案新技术、多相流体输送、设备简化 适合含气率大于95%的气田,理论上可用于本项目流动保障-输送到岸上终端Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions44水下增压可行性没有工程实例,Ormen Lange等油气田2012年启用供电问题(60MW)维护费用高水下增压技术风险很大,不推荐在本项目应用流动保障-输送到岸上终端St

    23、art with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions45水合物生成曲线流动保障-输送到岸上终端水合物Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions46水合物湿气外输管线-温度压力分布曲线5km温温度度2流动保障-输送到岸上终端Start with Engineering, Focus on SolutionsStart with Engineering, Focu

    24、s on Solutions47水合物处理:电伴热、水下脱水、注入水合物抑制剂甲醇的加入量38,320kg/h,需很大管径 ,不推荐 推荐加入低剂量抑制剂,注入量以水相的1%计算,即711.66kg/h ,甲醇用于开井及紧急泄放流动保障-输送到岸上终端Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions48管线的清管体积为2X3,078m3推荐在陆上终端设置6,200m3段塞流捕集器 段塞流捕集器分容器式和管式,推荐采用管式捕集器段塞流流动保障-输送到岸上终端Start with

    25、 Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions49CO2的含量为7.03mol%,存在腐蚀解决方法:前5公里采用碳钢+内衬不锈钢5公里后,温度基本维持稳定,采用碳钢+缓蚀剂的方案管道腐蚀与防腐流动保障-输送到岸上终端Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions50流动保障 水下系统输送到岸上终端 水下系统输送到浮式平台后外输 管径与输送压力可行性水合物防治措施 段塞流管道

    26、腐蚀和防腐 小结Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions51输送到浮式平台再外输a)水下系统到浮式平台 考虑在浮式平台上增压,平台设置压力10MPa 建议采用210管线 ,起输压力16.6MPab)浮式平台到岸上终端 双管输送:比较20 22 24 ,推荐222的管线,起输压力19.2MPa在浮式平台上设置增压系统,可行管径与输送压力可行性Start with Engineering, Focus on SolutionsStart with Engineering,

    27、 Focus on Solutions52水合物管道温度压力分布曲线3km/2输送到浮式平台再外输Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions53外输管线水露点为-15,外输干气在操作条件下温度始终在水露点之上。在正常输送工况下,外输送管线上不会生成水合物水合物处理:在水下井口注入低剂量抑制剂:556.12kg/h,甲醇用于开井及紧急泄放输送到浮式平台再外输Start with Engineering, Focus on SolutionsStart with Engin

    28、eering, Focus on Solutions54a)水下系统到浮式平台在平台上设置600m3 (570m3)段塞流捕集器b)外输管线陆上终端设置4,700m3 (2X2,327m3)管式捕集器段塞流输送到浮式平台再外输Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions55a)水下生产系统到浮式平台:前3公里碳钢+内衬不锈钢,3公里后碳钢+缓蚀剂b)外输管线可采用碳钢管道+缓蚀剂,设置腐蚀挂片和腐蚀探头管道腐蚀与防腐输送到浮式平台再外输Start with Enginee

    29、ring, Focus on SolutionsStart with Engineering, Focus on Solutions56流动保障-小结1)输送到岸上终端2X26(内径24)管线(20.4MPa )在技术成熟的条件下,采用水下增压加入低剂量抑制剂711.66kg/h。甲醇开井及紧急泄放时1个6,200m3的管式段塞流捕集器前5公里碳钢内衬+不锈钢,5公里之后碳钢+缓蚀剂水下增压技术风险很大,且外输管径太大,不推荐此方案Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutio

    30、ns572)输送到浮式平台再外输a)水下生产系统到浮式平台:210的管线(16.2MPa) 加入低剂量抑制剂556.12kg/h,甲醇用于开井及紧急在平台上设置600m3 ( 570m3 )段塞流捕集器前3公里碳钢+内衬不锈钢,3公里后碳钢+缓蚀剂b)外输管线222 (内径20)的管线 (19.2MPa )陆上终端设置4,700m3 (2X2,327m3)管式捕集器可采用碳钢管道+缓蚀剂,设置腐蚀挂片和腐蚀探头流动保障-小结Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions58

    31、案例分析浮式平台1)平台方案初选上部设施(工艺系统、总体布置)立管系统浮式平台尺度确定浮式平台比选2)浮式平台推荐方案Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions59平台方案初选从平台性能和系统功能考虑该油气田是以气为主FPSO储存功能优势体现不出来立管数量多,应用在单点FPSO上难度大FPSO不推荐干式生产平台TLP,Truss SPAR湿式生产平台SEMIStart with Engineering, Focus on SolutionsStart with Engi

    32、neering, Focus on Solutions60浮式平台主尺度确定方法方法Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions61工艺方案干式生产平台凝析油处理系统气处理系统燃料气系统生产水处理系统凝析油处理系统工艺流程图 审核版次比 例工号设计证书号校对凝析油处理系统工艺流程图中心平台CEP琼东南深水浮式生产平台优选修改明日期签署签字版次日期项目名称中石化上海海洋油气分公司说版业主改修图号批 准审 核审 定校 对设 计绘 图Start with Engineering

    33、, Focus on SolutionsStart with Engineering, Focus on Solutions62工艺方案气处理系统工艺流程图 干式生产平台凝析油处理系统气处理系统燃料气系统生产水处理系统审核版次比 例工号设计证书号校对气处理系统工艺流程图中心平台CEP修改明日期签署签字版次日期项目名称说版业主改修图号批 准审 核审 定校 对设 计绘 图琼东南深水浮式生产平台优选中石化上海海洋油气分公司Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions63工艺方案

    34、原料气系统工艺流程图 干式生产平台凝析油处理系统气处理系统燃料气系统生产水处理系统审核版次比 例工号设计证书号校对燃料气系统工艺流程图中心平台CEP修改明日期签署签字版次日期项目名称说版业主改修图号批 准审 核审 定校 对设 计绘 图琼东南深水浮式生产平台优选中石化上海海洋油气分公司Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions64工艺方案生产水处理系统工艺流程图 中石化上海海洋油气分公司签字签署设 计绘 图校 对审 定审 核批 准工号设计证书号比 例版次项目名称日期图号生

    35、产水处理系统工艺流程图中心平台CEP修改日期版次业主版审核修改校对明说琼东南深水浮式生产平台优选干式生产平台凝析油处理系统气处理系统燃料气系统生产水处理系统Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions65工艺方案湿式生产平台气体接收系统凝析油处理系统气处理系统燃料气系统生产水处理系统气体接收系统966.001.071.09 0.36 第一节96630.2371.249.36 -4.13 第二节96628.23342.47222.16 -35.11 第三节96630.233

    36、22.84223.79 -18.74 Total741.24499.05 -56.91 下主体过渡段966.00 -763.21.071.09 0.36 第一节763.238.135.6624.14 7.42 第二节763.236.07497.22319.56 86.41 第三节763.238.1179.5121.52 37.35 Total713.45466.31 131.53 底端延伸段711.255.884.263.82 2.09 合计147098085Start with Engineering, Focus on SolutionsStart with Engineering, Fo

    37、cus on Solutions86单立柱平台-SPAR主尺度系泊系统张紧式系泊33 6” chain(400m)+10.8 ” polyester(2000m)+ 6 ” chain(100m) 单根预张力500吨平台直径39m平台吃水172 m干弦高度19 m矩形中心井1616 mmTopside重量17916 t立管载荷2060 t系泊系统载荷4500 t船体重量18851 t总排水量67570 t船体硬舱船体中段船体软舱Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions

    38、87半潜式平台-SEMI主尺度平台吃水30mColumn高度50m干弦高度20 mColumn尺寸1515mmPontoon尺寸35159mmmTopside重量11700t立管载荷1426t系泊系统载荷3200t船体重量10422t总排水量47048tStart with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions88推荐方案平台种类优点缺点方案可行性方案经济性推荐与否张力腿平台1、运动性能良好2、采油设备安装维护方便3、在岸上安装调试1、张力筋腱制造与海上安装成本较高2、国内尚无建造经验

    39、可行,但已接近极限水深低单立柱平台1、运动性能良好2、采油设备安装维护方便3、需在海上安装调试1、国内尚无建造经验,但船体结构建造相对容易可行中半潜式平台1、造价低廉2、国内有丰富的建造经验3、在岸上安装调试1、运动性能较差2、对立管系统设计要求高可行高Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions89推荐方案-单立柱平台(SPAR)船体主尺度船体结构船体性能系泊系统安装方案Start with Engineering, Focus on SolutionsStart wi

    40、th Engineering, Focus on Solutions90船体主尺度尺度信息主尺度数值单位平台直径39m平台吃水172m干弦高度19m上部硬舱式主体长度76m中部桁架式主体长度108m底部软舱高度7m载荷信息上部组块重量17916t立管载荷2060t系泊系统载荷4500t船体重量18851t平台结构总重量14827t压载总重量24154t总排水量67570t船体硬舱船体中段船体软舱Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions91船体结构Start with

    41、Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions92船体结构外板壁厚20mm舱室分层4垂直舱壁数量4垂直舱壁壁厚14mm水平甲板数量3水平甲板板厚10mm总结构重量14827tStart with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions93船体性能自由浮态操作工况重心高度114.7m浮心高度120.2mGM7.2m重心高度117.1m浮心高度120.2mGM4.8mStart with En

    42、gineering, Focus on SolutionsStart with Engineering, Focus on Solutions94船体性能水动力根据WAMIT的水动力计算结果,该平台垂荡的固有周期为25.5sStart with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions95系泊系统环境条件-百年一遇波浪风速(m/s)有义波高(m) 谱峰周期(sec)11.317.639.1水深(m)流速(m/s)02.67102.43202.43502.041000.801500.5220

    43、00.413000.335000.29波谱采用Jonswap谱,百年一遇Gamma=1风速选择距海面10米高处1分钟平均风速 流速分布Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions96系泊系统布置形式锚泊属性系泊段锚链聚酯缆锚链等级R4-R4长度(m) 400*2000100直径(inch) 61013/166湿重(kg/m) 419.912.2419.9最小最小破断强度(t)203420672034Start with Engineering, Focus on Solu

    44、tionsStart with Engineering, Focus on Solutions97系泊系统吸力桩选型土壤条件参照南海PY油气田海底土壤数据,海底表层土壤为软黏土、正常固结2438mm pileStart with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions98系泊系统吸力桩选型参考规范载荷假设状态侧向(安全因子) 轴向(安全因子)完整1.21.5破损11.2状态垂直载荷(t)水平载荷(t)完整9001100破损11001300Start with Engineering, F

    45、ocus on SolutionsStart with Engineering, Focus on Solutions99建造安装分析国内建造资源大连船舶重工烟台来福士海洋石油工程股份有限公司上海外高桥船厂Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions100建造安装分析安装分析船体干拖、压载、扶正上部组块干拖、分块吊装Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solu

    46、tions101建造安装分析安装分析系泊系统预安装Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions102建造安装分析安装分析系泊系统安装连接Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions103推荐方案-半潜式平台(SEMI)船体主尺度船体结构船体性能系泊系统安装方案Start with Engineering, Focus on SolutionsStar

    47、t with Engineering, Focus on Solutions104船体主尺度平台吃水30mColumn高度50m干弦高度20 mColumn尺寸1515mmPontoon尺寸35159mmmTopside重量16200t立管载荷1426t系泊系统载荷3200t船体重量10422t总排水量47048tStart with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions105船体结构Start with Engineering, Focus on SolutionsStart wit

    48、h Engineering, Focus on Solutions106船体结构浮筒结构(单个)外板壁厚20mm舱室分层3垂直舱壁数量2舱壁壁厚10mm立柱结构(单个)外板壁厚20mm舱室分层5水平舱壁数量4舱壁壁厚10mmStart with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions107船体性能稳性(操作工况Draft=30m)重心高度21.1m浮心高度10.7mGM2.2m完整稳性Start with Engineering, Focus on SolutionsStart with

    49、 Engineering, Focus on Solutions108船体性能水动力根据WAMIT计算的水动结果,求得该平台垂荡的固有周期为20.3sStart with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions109系泊系统环境条件-百年一遇布置形式系泊配置系泊形式多点张紧式系泊系泊线布置形式34系泊线数量12单根系泊线长度2300系泊线材料锚链+聚酯缆+锚链锚泊属性系泊段无档锚链聚酯缆无档锚链等级R4-R4长度(m) 350*1850100直径 (in) 53/4103/853/4直径

    50、(m) 0.1460.2630.146空气(kg/m) 42444.4424水中(kg/m) 36911.1369最小破断强度(t)192519021925Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions110建造安装分析船体+TopsideTopside在船坞安装、调试完备,湿拖系泊系统与SPAR平台类似Start with Engineering, Focus on SolutionsStart with Engineering, Focus on Solutions11

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