深海海底钻机收放系统动力学随机数值仿真方法研究
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摘要
提出了一种随机不规则波浪激励下的收放系统动力学随机数值仿真方法。该方法以随机不规则波浪为输入,应用雨流计数法分析收放系统动态特性响应随机分布特征,获取不同水深和海况条件下收放系统动态响应统计规律。以深海海底钻机收放系统为例,对随机不规则波浪激励引起的母船摇荡—脐带缆—深海海底钻机摇荡进行分析,建立了计入海水阻尼的深海海底钻机收放系统动力学模型。然后,以随机不规则波浪的有义波高为特征值,产生随机不规则波浪激励,应用收放系统动力学模型分析计算系统动态随机响应,应用雨流计数法分析收放系统动态响应特性随机分布特征,并对不同水深和海况条件下的钻机摆动状况、升沉运动以及脐带缆张力等动态特性进行随机数值仿真分析与讨论。所提出的方法为随机不规则波浪激励下,海洋装备收放系统动态特性分析提供了新途径。
A new random numerical simulation method for evaluating dynamic response characteristics of a launch and recovery system is presented, which takes random irregular wave as input, and the random distribution characteristics of dynamic response of launch and recovery system is analyzed by using rain-flow counting method, and the dynamic laws of the launch and recovery system under different water depths and sea state are obtained. A launch and recovery system of a seafloor drill is chosen as a demonstration, the nonlinear coupling mechanism among the movement of the ship, the umbilical cable, and the seafloor drill caused by random irregular wave are investigated, and the dynamic model that considers the influence of the seawater resistance for launch & recovery system of seafloor drill is established. Based on the dynamic model of launch and recovery system of seafloor drill, the significant wave heights are used to produce excitation of the random irregular wave, and the corresponding dynamic random responses of the launch and recovery system are calculated and analyzed. The pendulum angle and the heaving motion of the seafloor drill and the tension of the umbilical cable are calculated and analyzed for the cases of seafloor drill at different water depths and sea state. The method provides a new tool for the dynamic characteristics of launch and recovery system of other seafloor equipment.
A new random numerical simulation method for evaluating dynamic response characteristics of a launch and recovery system is presented, which takes random irregular wave as input, and the random distribution characteristics of dynamic response of launch and recovery system is analyzed by using rain-flow counting method, and the dynamic laws of the launch and recovery system under different water depths and sea state are obtained. A launch and recovery system of a seafloor drill is chosen as a demonstration, the nonlinear coupling mechanism among the movement of the ship, the umbilical cable, and the seafloor drill caused by random irregular wave are investigated, and the dynamic model that considers the influence of the seawater resistance for launch & recovery system of seafloor drill is established. Based on the dynamic model of launch and recovery system of seafloor drill, the significant wave heights are used to produce excitation of the random irregular wave, and the corresponding dynamic random responses of the launch and recovery system are calculated and analyzed. The pendulum angle and the heaving motion of the seafloor drill and the tension of the umbilical cable are calculated and analyzed for the cases of seafloor drill at different water depths and sea state. The method provides a new tool for the dynamic characteristics of launch and recovery system of other seafloor equipment.
引文
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[5]HONG K S,NGO Q H.Dynamics of the container crane on a mobile harbor[J].Ocean Engineering,2012,53(2):16-24.
[6]YURCHENKO D,ALEVRAS P.Stability,control and reliability of a ship crane payload motion[J].Probabilistic Engineering Mechanics,2014,38:173-179.
[7]NESIN D Y,DUSHKO V R.Numerical model of the large carrying capacity crane ship with the fully revolving topside[J].Procedia Engineering,2015,100:1082-1091.
[8]王鹏程,方勇纯,相吉磊,等.回转旋臂式船用起重机的动力学分析与建模[J].机械工程学报,2011,47(20):34-39.WANG Pengcheng,FANG Yongchun,XIANG Jilei,et al.Dynamics Analysis and Modeling of Ship-mounted Boom Crane[J].Journal of Mechanical Engineering,2011,17(20):34-39.
[9]MASOUD Z N,NAYFEH A H,MOOK D T.Cargo pendulation reduction of ship-mounted cranes[J].Nonlinear Dynamics,2004,35:299-311.
[10]NISHI Y.Static analysis of axially moving cables applied for mining nodules on the deep sea floor[J].Applied Ocean Research,2012,34:45-51.
[11]张滔,戴瑜,刘少军,等.深海履带式集矿机多体动力学建模与行走性能仿真分析[J].机械工程学报,2015,51(6):173-180.ZHANG Tao,DAI Yu,LIU Shaojun,et al.Multi-body dynamics modeling and mobility simulation analysis of deep ocean tracked miner[J].Journal of Mechanical Engineering,2015,51(6):173-180.
[12]KORDE U A.Near-optimal control of a wave energy device in irregular waves with deterministic-model driven incident wave prediction[J].Applied Ocean Research,2015,53:31-45.
[13]JEANS T L,FAGLEY C,SIEGEL S G,et al.Irregular deep ocean wave energy attenuation using a cycloidal wave energy converter[J].International Journal of Marine Energy,2013,1:16-32.
[14]MAO H,YANG H Z.Parametric pitch instability investigation of deep draft semi-submersible platform in irregular waves[J].International Journal of Naval Architecture and Ocean Engineering,2016(8):13-21.
[15]WANG S,SOARES C G.Experimental and numerical study of the slamming load on the bow of a chemical tanker in irregular waves[J].Ocean Engineering,2016(111):369-383.
[16]PIERSON W J,MOSKOWITZ J L.A proposed spectral form for fully developed wind seas based on the similarity theory of s.a.kitaigorodskii[J].Journal of Geophysical Research,1964,69(24):5181-5190.
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[19]FOSSEN T I,SMOGELI?N.Nonlinear time-domain strip theory formulation for low-speed manoeuvring and station-keeping[J].Modeling,Identification and Control,2004,25(4):201-221.
[20]DOWNING S,SOCIE D.Simple rainflow counting algorithms[J].International Journal of Fatigue,1982,4(1):31-40.
[21]MCINNES C,MEEHAN P.Equivalence of four-point and three-point rainflow cycle counting algorithms[J].International Journal of Fatigue,2008,30(3):547-59.