水下系泊监测平台动力学特性及稳定性研究
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摘要
水下系泊监测平台是一种新型的近海港口及河道工程结构，是水下监测系统图像采集仪器与设备的支撑平台。水下系泊监测平台浮体及系泊缆自身长度长，长细比大，在非线性波流作用下其动态性能产生很大的变化，呈现出非线性的大位移和旋转，从而对系泊监测平台的安全性和稳定性将产生大的影响，因此研究其在波流载荷作用下的非线性动态响应和稳定性具有十分重要的意义。
论文以水下系泊监测平台为研究对象，在分析其所处环境载荷及动态特性的基础上，结合系泊监测平台的功能特点和性能要求，建立了系统的非线性流固耦合动力学方程及有限元模型，并利用混沌理论、Hopkinson冲击载荷理论，研究了系统稳定性判据及影响因素、系统的非线性动态响应以及浮体和系泊缆的冲击响应。论文所做的主要工作如下：
（1）水下系泊监测平台所受波流载荷
在研究水下系泊监测平台所处水域的来流速度分布规律基础之上，利用水文环境的实测数据，确定布放位置，根据Morison理论计算了作用于系泊监测平台上的流体荷载；利用计算流体力学理论和CFD软件进行了正方形截面、圆形截面和椭圆形截面浮体的扰流场数值模拟，分析得出在系泊浮体迎流面面积相等的条件下，钝体截面绕流场复杂，绕流阻力系数较大，随着截面曲率变化平缓，其绕流流场环境可显著改善，监测平台浮体表面压力分布减小，对系泊浮体整体受力有利，有利于提高系泊浮体稳定性。
（2）水下系泊监测平台非线性振动模型
为了克服和避免发生共振，研究了水下系泊监测平台自振频率，使漩涡释放的频率远离水下系泊监测平台浮体自振频率，在考虑其安装特点的基础上，选取两个系泊缆之间的浮体进行分析，以系泊缆为约束条件，研究了系泊缆间的距离、单位长度浮体质量、浮体直径对自振频率的影响。结果表明，系泊缆间的距离和浮体直径对自振频率影响较大，单位长度浮体质量影响较小。因此在进行水下系泊监测平台浮体设计时，应以浮体直径及系泊缆间的距离为主控因素，当己知水流流速范围时，可以选择合适的浮体直径使得水流涡旋释放频率远离浮体的自振频率，从而有效减小由于共振给监测平台带来的危害。
（3）水下系泊监测平台涡激作用下稳定性研究
针对水下系泊监测平台在水流涡激作用下的稳定性问题，考虑了浮体在振动过程中的变形，建立了其流固耦合的非线性动力学方程，利用谐波平衡法进行了非线性特性定性分析以及Melnikov方法进行稳定性判据研究和影响因素分析，以系统出现混沌状态为稳定性控制条件，重点研究了系泊缆支撑间距、水流流速、浮体直径对稳定性的影响，并计算出了各影响因素的临界值，结果表明，系统稳定性随着浮体直径增加呈先缓慢降低后急剧增大的趋势；系统稳定性随支撑间距和河道流速的增加而降低，当超过临界值后，稍微增加都可能导致系泊监测平台振动偏离振动轨道而造成局部失稳甚至结构破坏。
（4）水下系泊监测平台非线性动态响应及系泊缆冲击张力的研究
基于Hopkinson冲击载荷理论，针对水下系泊监测平台在水流作用下的动态响应，考虑系泊缆的垂度效应，采用等效弹性模量法修正拉力和弦向作用力之间的差异，建立了水下系泊监测平台的计算模型和数值分析模型。利用水力学理论、海洋工程结构力学理论以及流固耦合的方法分别对其进行求解，研究了浮体在水流作用下的动态响应特性以及系泊缆在松弛——张紧转换过程中和系泊浮体之间的冲击响应。计算结果表明，在水流的作用下，浮体会产生较大的垂荡和横荡位移，横荡位移很快趋于稳定，垂荡位移由于水流涡激升力的影响会产生振动；由于浮体和系泊缆间冲击的存在，以及水流涡激升力的影响，系泊缆在松弛——张紧转变过程中，其张力产生较大的变化。
The submerged mooring monitoring platform is a new type engineering structure ofriverway and harbor, and it is a support platform of equipment and image collect instrument forsubmerged monitoring system. The buoy and mooring cable of the submerged mooringmonitoring platform are very long and the ratio of diameter and length are very large. Theirdynamical property will change greatly by nonlinearity wave force and fluid force; they willpresent nonlinearity large displacement and rotation, these will influence the security andstability of the platform. So study the nonlinearity dynamical response and stability by waveforce and fluid force were very important.
The dissertation chose the submerged mooring monitoring platform as study object,analyzed the dynamical property and environment load in detail, combined with mooringmonitoring platform function characteristics and performance requirements, then established thenonlinearity fluid-solid coupling dynamical equation and finite element model, studied thestability criterion and influencing factor、the nonlinearity dynamical response and the impactresponse of buoy and mooring cable by chaos theory and Hopkinson impact loading theory. Themain works of the dissertation are below:
（1） The wave and fluid load of submerged mooring monitoring platform
First I studied the velocity distribution rule of the water area where the platform fixed, thendetermined the fixed area according to the measure data of hydrology environment, calculatedthe fluid load of mooring platform by Morison theory; simulated the vortex field of square crosssection、circular cross section and ellipse cross section buoy by CFD software, through theanalysis the conclusion could be got that in the same stream surface area of buoy situation, thestreaming field of bluff section was complex and the drag coefficient was large, with the sectioncurvature change mild, the streaming field changed observably, the distributed pressure of buoysurface decreased, it’s beneficial to the whole stress situation of buoy and it could enhance itsstability.
（2） The nonlinearity vibration model of submerged mooring monitoring platform
In order to overcome and avoid resonance, studied the natural frequency of vibration forsubmerged mooring monitoring platform, let the vortex frequency far from to the naturalfrequency, the buoy between the two mooring cable was chose to be analyzed, studied theresponse by distance of two mooring cable、the mass of per unit length of buoy and the diameterof buoy, the conclusion indicated that the distance influence the natural frequency of buoy wasmost and the mass of per unit length was least. So, when designed the mooring monitoringplatform, the diameter of buoy and the distance of mooring cable were chosen as the maincontrol factors, if the velocity of fluid was known, we can chose the suitable diameter of buoy tomake the vortex frequency far from to the natural frequency, it could decrease the damage byresonance.
（3） The stability of submerged mooring monitoring platform
Aimed at the problem of stability by flow vertex-induced action for submerged mooring monitoring platform, the fluid-solid coupling nonlinear dynamic equation was set up by takinginto account the deformation of floating body on vibration. Done the nonlinear characteristicqualitative analysis by harmonic wave equilibrium method and researched the stability criteriaand influencing factors by Melnikov method. Studied the influence for stability of mooring cablesupport distance、fluid velocity and the diameter of buoy on the stipulation that the systememerged chaotic state, and calculated the critical value of support distance, the results shown thatthe stability first decreased slow and then increase rapid with the diameter of buoy, the stabilityof system would decrease along with the increase of support distance, after the support distanceexceed the critical value, a little increase would make the mooring platform’s vibration deviatethe vibration track、cause local instability and even damaged the structure.
（4） The dynamical response and impact tension of mooring cable for submerged mooringmonitoring platform
The dynamical model of submerged mooring monitoring platform on impacting and afterimpacting was formulated aimed at impact tension of mooring cable and the dynamical responseby the action of flow force, based on Hopkinson impact load theory, taken into account thecatenoid effect of mooring cable and revised the difference of tension and chordwise directionaction force by equivalent modulus of elasticity. And solved the equation by hydraulics theoryand structural mechanics theory of oceaneering, studied the action force characteristic ofmooring cable and motion characteristic of buoy. Calculated the equation according to a specificexample and hydrological environment, through the result the conclusion could be got that thebuoy would engender biggish heave and swaying displacement, but the swaying displacementgot stable quickly and the heaven displacement got vibration for the vortex-induced action by theflow, because the vortex-induced action and the impact action between buoy and the mooringcable, the tension changed greatly when the mooring cable was relaxation-tension.
论文以水下系泊监测平台为研究对象，在分析其所处环境载荷及动态特性的基础上，结合系泊监测平台的功能特点和性能要求，建立了系统的非线性流固耦合动力学方程及有限元模型，并利用混沌理论、Hopkinson冲击载荷理论，研究了系统稳定性判据及影响因素、系统的非线性动态响应以及浮体和系泊缆的冲击响应。论文所做的主要工作如下：
（1）水下系泊监测平台所受波流载荷
在研究水下系泊监测平台所处水域的来流速度分布规律基础之上，利用水文环境的实测数据，确定布放位置，根据Morison理论计算了作用于系泊监测平台上的流体荷载；利用计算流体力学理论和CFD软件进行了正方形截面、圆形截面和椭圆形截面浮体的扰流场数值模拟，分析得出在系泊浮体迎流面面积相等的条件下，钝体截面绕流场复杂，绕流阻力系数较大，随着截面曲率变化平缓，其绕流流场环境可显著改善，监测平台浮体表面压力分布减小，对系泊浮体整体受力有利，有利于提高系泊浮体稳定性。
（2）水下系泊监测平台非线性振动模型
为了克服和避免发生共振，研究了水下系泊监测平台自振频率，使漩涡释放的频率远离水下系泊监测平台浮体自振频率，在考虑其安装特点的基础上，选取两个系泊缆之间的浮体进行分析，以系泊缆为约束条件，研究了系泊缆间的距离、单位长度浮体质量、浮体直径对自振频率的影响。结果表明，系泊缆间的距离和浮体直径对自振频率影响较大，单位长度浮体质量影响较小。因此在进行水下系泊监测平台浮体设计时，应以浮体直径及系泊缆间的距离为主控因素，当己知水流流速范围时，可以选择合适的浮体直径使得水流涡旋释放频率远离浮体的自振频率，从而有效减小由于共振给监测平台带来的危害。
（3）水下系泊监测平台涡激作用下稳定性研究
针对水下系泊监测平台在水流涡激作用下的稳定性问题，考虑了浮体在振动过程中的变形，建立了其流固耦合的非线性动力学方程，利用谐波平衡法进行了非线性特性定性分析以及Melnikov方法进行稳定性判据研究和影响因素分析，以系统出现混沌状态为稳定性控制条件，重点研究了系泊缆支撑间距、水流流速、浮体直径对稳定性的影响，并计算出了各影响因素的临界值，结果表明，系统稳定性随着浮体直径增加呈先缓慢降低后急剧增大的趋势；系统稳定性随支撑间距和河道流速的增加而降低，当超过临界值后，稍微增加都可能导致系泊监测平台振动偏离振动轨道而造成局部失稳甚至结构破坏。
（4）水下系泊监测平台非线性动态响应及系泊缆冲击张力的研究
基于Hopkinson冲击载荷理论，针对水下系泊监测平台在水流作用下的动态响应，考虑系泊缆的垂度效应，采用等效弹性模量法修正拉力和弦向作用力之间的差异，建立了水下系泊监测平台的计算模型和数值分析模型。利用水力学理论、海洋工程结构力学理论以及流固耦合的方法分别对其进行求解，研究了浮体在水流作用下的动态响应特性以及系泊缆在松弛——张紧转换过程中和系泊浮体之间的冲击响应。计算结果表明，在水流的作用下，浮体会产生较大的垂荡和横荡位移，横荡位移很快趋于稳定，垂荡位移由于水流涡激升力的影响会产生振动；由于浮体和系泊缆间冲击的存在，以及水流涡激升力的影响，系泊缆在松弛——张紧转变过程中，其张力产生较大的变化。
The submerged mooring monitoring platform is a new type engineering structure ofriverway and harbor, and it is a support platform of equipment and image collect instrument forsubmerged monitoring system. The buoy and mooring cable of the submerged mooringmonitoring platform are very long and the ratio of diameter and length are very large. Theirdynamical property will change greatly by nonlinearity wave force and fluid force; they willpresent nonlinearity large displacement and rotation, these will influence the security andstability of the platform. So study the nonlinearity dynamical response and stability by waveforce and fluid force were very important.
The dissertation chose the submerged mooring monitoring platform as study object,analyzed the dynamical property and environment load in detail, combined with mooringmonitoring platform function characteristics and performance requirements, then established thenonlinearity fluid-solid coupling dynamical equation and finite element model, studied thestability criterion and influencing factor、the nonlinearity dynamical response and the impactresponse of buoy and mooring cable by chaos theory and Hopkinson impact loading theory. Themain works of the dissertation are below:
（1） The wave and fluid load of submerged mooring monitoring platform
First I studied the velocity distribution rule of the water area where the platform fixed, thendetermined the fixed area according to the measure data of hydrology environment, calculatedthe fluid load of mooring platform by Morison theory; simulated the vortex field of square crosssection、circular cross section and ellipse cross section buoy by CFD software, through theanalysis the conclusion could be got that in the same stream surface area of buoy situation, thestreaming field of bluff section was complex and the drag coefficient was large, with the sectioncurvature change mild, the streaming field changed observably, the distributed pressure of buoysurface decreased, it’s beneficial to the whole stress situation of buoy and it could enhance itsstability.
（2） The nonlinearity vibration model of submerged mooring monitoring platform
In order to overcome and avoid resonance, studied the natural frequency of vibration forsubmerged mooring monitoring platform, let the vortex frequency far from to the naturalfrequency, the buoy between the two mooring cable was chose to be analyzed, studied theresponse by distance of two mooring cable、the mass of per unit length of buoy and the diameterof buoy, the conclusion indicated that the distance influence the natural frequency of buoy wasmost and the mass of per unit length was least. So, when designed the mooring monitoringplatform, the diameter of buoy and the distance of mooring cable were chosen as the maincontrol factors, if the velocity of fluid was known, we can chose the suitable diameter of buoy tomake the vortex frequency far from to the natural frequency, it could decrease the damage byresonance.
（3） The stability of submerged mooring monitoring platform
Aimed at the problem of stability by flow vertex-induced action for submerged mooring monitoring platform, the fluid-solid coupling nonlinear dynamic equation was set up by takinginto account the deformation of floating body on vibration. Done the nonlinear characteristicqualitative analysis by harmonic wave equilibrium method and researched the stability criteriaand influencing factors by Melnikov method. Studied the influence for stability of mooring cablesupport distance、fluid velocity and the diameter of buoy on the stipulation that the systememerged chaotic state, and calculated the critical value of support distance, the results shown thatthe stability first decreased slow and then increase rapid with the diameter of buoy, the stabilityof system would decrease along with the increase of support distance, after the support distanceexceed the critical value, a little increase would make the mooring platform’s vibration deviatethe vibration track、cause local instability and even damaged the structure.
（4） The dynamical response and impact tension of mooring cable for submerged mooringmonitoring platform
The dynamical model of submerged mooring monitoring platform on impacting and afterimpacting was formulated aimed at impact tension of mooring cable and the dynamical responseby the action of flow force, based on Hopkinson impact load theory, taken into account thecatenoid effect of mooring cable and revised the difference of tension and chordwise directionaction force by equivalent modulus of elasticity. And solved the equation by hydraulics theoryand structural mechanics theory of oceaneering, studied the action force characteristic ofmooring cable and motion characteristic of buoy. Calculated the equation according to a specificexample and hydrological environment, through the result the conclusion could be got that thebuoy would engender biggish heave and swaying displacement, but the swaying displacementgot stable quickly and the heaven displacement got vibration for the vortex-induced action by theflow, because the vortex-induced action and the impact action between buoy and the mooringcable, the tension changed greatly when the mooring cable was relaxation-tension.
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