深海采矿系统扬矿子系统纵向振动被动减振研究
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摘要
摘要：随着全球陆地资源的日趋紧张、世界经济和现代科技的飞速发展,开发海洋矿产资源成为世界各国发展的战略目标,尤其对于正在崛起的中华民族实现“中国梦”具有深远意义。
深海采矿系统包括采矿平台、扬矿子系统和集矿机等,其中,采矿船、扬矿硬管、提升泵、中间舱和扬矿软管等是扬矿子系统的重要组成部分。本文研究基于中国深海采矿1000m海试系统,针对深海采矿作业过程中采矿船升沉运动引起的扬矿子系统纵向动力响应问题,提出了在泵和中间舱附加吸振器的方法减小纵向振幅,并运用Galerkin理论详细推导分析了扬矿子系统在泵和中间舱附加吸振器前后纵向动力性能的变化,利用BFGS变尺度法首次研究了水中吸振器的参数最优化问题。为了对计算机仿真结果进行验证,还建立了一套附加吸振器扬矿子系统纵向减振模拟实验系统。本文研究内容为将来深海采矿作业和海试提供了技术参考,也为加强采矿生产安全性提出了一条新的途径。
论文的主要研究内容如下：
1.针对中国大洋采矿海洋环境,研究了深海采矿系统所承受的风、波、流等载荷,且研究了扬矿子系统在一定深度海水中的环境载荷,详细推导了扬矿子系统的液动力载荷计算公式,并利用莫尔经验公式得到了波浪中采矿船升沉运动的简谐运动方程。
2.对采矿船升沉运动下的扬矿子系统纵向振动进行了研究,构建了相应的动力学方程,并应用Galerkin理论进行了求解,仿真分析了不同海浪周期下扬矿子系统的纵向振幅和轴向应力在泵和中间舱位置节点随海浪频率的变化规律。
3.针对采矿船升沉运动下的扬矿子系统纵向振动问题,提出了附加吸振器的方法,运用Galerkin方法分别研究了在泵和中间舱等不同部位附加吸振器时对于扬矿子系统的纵向振动位移和轴向力的影响,仿真结果表明,在扬矿子系统上附加吸振器是一种减小纵向振幅的简单可行且有效的方法,尤其在泵和中间舱部位均附加吸振器时抑振效果进一步提升。
4.鉴于在扬矿子系统中附加吸振器的参数不同而引起纵向减振效果差异现象,深入分析了海水中单自由度主系统附加吸振器的两自由度振动系统,运用罚函数法和BFGS变尺度法推导了水中吸振器参数最优化的目标函数和算法,首次得到水中吸振器参数最优化的六个参数因子,而不是空气中的四个参数,丰富了吸振器参数最优化理论,并为后继附加吸振器的扬矿硬管纵向减振模拟实验提供了吸振器设计参数准备。
5.提出了附加吸振器的扬矿硬管纵向减振模拟实验具体设计方案,其中,采矿船运动模拟装置采用了Stewart六自由度平台,吸振器模拟装置采用了简单有效的典型Voigt式吸振器,即弹簧-阻尼-质量子系统,在规格长×宽×高为2.6m×2.6m×3m的水池进行了多种采矿船升沉周期的模拟实验,实验结果与仿真结果基本吻合,因此验证了仿真结果的正确性,同时证明了扬矿子系统附加吸振器纵向减振方法的有效性。
Abstract:The current situation is growing increasingly that terrestrial resources shortage, rapid development of science and technology. Extracting marine resource is the strategic target for all nationalities, and it is of far-reaching significance for the emerging Chinese nation fulfilling "China Dream" especially.
The deep-ocean mining system includes the mining platform, the lifting pipe subsystem and minerals-collector. And the mining ship, the lifting steel pipe, the middle-module, the lifting pump and lifting hose are the important part of the lifting subsystem. This paper deals with the heaving-motion of mining ship and the longitudinal vibration of lifting steel pipe based on1000m trial system of deep-ocean Mining. The method is provided that applying vibration absorbers at the position of pump and middle-module. This paper deduces the longitudinal vibration characteristics of lifting subsystem by Galerkin Theory with or without vibration absorbers at pump and middle-module. And variable metric method of BFGS is used to solve the problem of design optimization of vibration absorbers in water for the first time. In order to verify the simulation results, the model experiment system of reducing longitudinal vibration with vibration absorber method is established. The study of this paper provide technical references for deep-ocean mining and trial, and a new proposal for strengthening safety of mining.
The main contents of this paper are following:
1. According to the environment of ocean in Chinese marine mining areas, the wind, wave and current acting on the deep-ocean mining system are analyzed, especially for the environment forces of the lifting pipe subsystem in a certain depth sea. And the harmonic motion equation of mining ship in wave is deduced with empirical equations of Moor.
2. Galerkin Theory is adopted to study the longitudinal vibration of mining ship in heave motion. The dynamic equations of lifting pipe subsystem are deduced, and simulated in the different sea conditions. The variation rule of longitudinal vibration and axial stress is obtained at the position of pump and middle-module for lifting pipe system with wave frequency.
3. To solve the longitudinal vibration of lifting pipe subsystem for mining ship, the method of applying vibration absorbers is proposed. The changes of longitudinal vibration and axial stress for the lifting pipe subsystem at the position of pump and middle-module with Galerkin Theory. The simulation results show the effectiveness of the vibration absorbers method for reducing the longitudinal vibration, especially better successful with all vibration absorbers at position of pump and middle-module.
4. Different effects of reducing the longitudinal vibration appear with different parameters of vibration absorbers. Then a two-degree-of-freedom system composed of a main vibration system and a vibration absorber in the water has been considered. The optimal condition for vibration absorber has been determined with interior penalty function method and variable metric method of BFGS. The results that six parameters affecting the optimal condition of vibration absorber in the water instead of four parameters in air are obtained for the first time. These conclusions enrich content of optimization theory for parameters of vibration absorber, and have prepared design parameters for the model experiment system of reducing longitudinal vibration with vibration absorbers.
5. The specific design scheme of model experiment system for reducing longitudinal vibration with vibration absorber is proposed. This includes:a Stewart6-DOF platform simulating the motion of mining ship, a classic Voigt type of spring-damping for vibration absorber, and a size of the storing reservoir with2.6m×2.6m×3m for experiments. A lot of model experiments are done with several wave cycles. The results of experiments display good performance with the simulation. The correctness of simulation results is verified by experiment. And that showed the vibration absorber method is efficient for reducing the longitudinal vibration of lifting pipe subsystem.
深海采矿系统包括采矿平台、扬矿子系统和集矿机等,其中,采矿船、扬矿硬管、提升泵、中间舱和扬矿软管等是扬矿子系统的重要组成部分。本文研究基于中国深海采矿1000m海试系统,针对深海采矿作业过程中采矿船升沉运动引起的扬矿子系统纵向动力响应问题,提出了在泵和中间舱附加吸振器的方法减小纵向振幅,并运用Galerkin理论详细推导分析了扬矿子系统在泵和中间舱附加吸振器前后纵向动力性能的变化,利用BFGS变尺度法首次研究了水中吸振器的参数最优化问题。为了对计算机仿真结果进行验证,还建立了一套附加吸振器扬矿子系统纵向减振模拟实验系统。本文研究内容为将来深海采矿作业和海试提供了技术参考,也为加强采矿生产安全性提出了一条新的途径。
论文的主要研究内容如下：
1.针对中国大洋采矿海洋环境,研究了深海采矿系统所承受的风、波、流等载荷,且研究了扬矿子系统在一定深度海水中的环境载荷,详细推导了扬矿子系统的液动力载荷计算公式,并利用莫尔经验公式得到了波浪中采矿船升沉运动的简谐运动方程。
2.对采矿船升沉运动下的扬矿子系统纵向振动进行了研究,构建了相应的动力学方程,并应用Galerkin理论进行了求解,仿真分析了不同海浪周期下扬矿子系统的纵向振幅和轴向应力在泵和中间舱位置节点随海浪频率的变化规律。
3.针对采矿船升沉运动下的扬矿子系统纵向振动问题,提出了附加吸振器的方法,运用Galerkin方法分别研究了在泵和中间舱等不同部位附加吸振器时对于扬矿子系统的纵向振动位移和轴向力的影响,仿真结果表明,在扬矿子系统上附加吸振器是一种减小纵向振幅的简单可行且有效的方法,尤其在泵和中间舱部位均附加吸振器时抑振效果进一步提升。
4.鉴于在扬矿子系统中附加吸振器的参数不同而引起纵向减振效果差异现象,深入分析了海水中单自由度主系统附加吸振器的两自由度振动系统,运用罚函数法和BFGS变尺度法推导了水中吸振器参数最优化的目标函数和算法,首次得到水中吸振器参数最优化的六个参数因子,而不是空气中的四个参数,丰富了吸振器参数最优化理论,并为后继附加吸振器的扬矿硬管纵向减振模拟实验提供了吸振器设计参数准备。
5.提出了附加吸振器的扬矿硬管纵向减振模拟实验具体设计方案,其中,采矿船运动模拟装置采用了Stewart六自由度平台,吸振器模拟装置采用了简单有效的典型Voigt式吸振器,即弹簧-阻尼-质量子系统,在规格长×宽×高为2.6m×2.6m×3m的水池进行了多种采矿船升沉周期的模拟实验,实验结果与仿真结果基本吻合,因此验证了仿真结果的正确性,同时证明了扬矿子系统附加吸振器纵向减振方法的有效性。
Abstract:The current situation is growing increasingly that terrestrial resources shortage, rapid development of science and technology. Extracting marine resource is the strategic target for all nationalities, and it is of far-reaching significance for the emerging Chinese nation fulfilling "China Dream" especially.
The deep-ocean mining system includes the mining platform, the lifting pipe subsystem and minerals-collector. And the mining ship, the lifting steel pipe, the middle-module, the lifting pump and lifting hose are the important part of the lifting subsystem. This paper deals with the heaving-motion of mining ship and the longitudinal vibration of lifting steel pipe based on1000m trial system of deep-ocean Mining. The method is provided that applying vibration absorbers at the position of pump and middle-module. This paper deduces the longitudinal vibration characteristics of lifting subsystem by Galerkin Theory with or without vibration absorbers at pump and middle-module. And variable metric method of BFGS is used to solve the problem of design optimization of vibration absorbers in water for the first time. In order to verify the simulation results, the model experiment system of reducing longitudinal vibration with vibration absorber method is established. The study of this paper provide technical references for deep-ocean mining and trial, and a new proposal for strengthening safety of mining.
The main contents of this paper are following:
1. According to the environment of ocean in Chinese marine mining areas, the wind, wave and current acting on the deep-ocean mining system are analyzed, especially for the environment forces of the lifting pipe subsystem in a certain depth sea. And the harmonic motion equation of mining ship in wave is deduced with empirical equations of Moor.
2. Galerkin Theory is adopted to study the longitudinal vibration of mining ship in heave motion. The dynamic equations of lifting pipe subsystem are deduced, and simulated in the different sea conditions. The variation rule of longitudinal vibration and axial stress is obtained at the position of pump and middle-module for lifting pipe system with wave frequency.
3. To solve the longitudinal vibration of lifting pipe subsystem for mining ship, the method of applying vibration absorbers is proposed. The changes of longitudinal vibration and axial stress for the lifting pipe subsystem at the position of pump and middle-module with Galerkin Theory. The simulation results show the effectiveness of the vibration absorbers method for reducing the longitudinal vibration, especially better successful with all vibration absorbers at position of pump and middle-module.
4. Different effects of reducing the longitudinal vibration appear with different parameters of vibration absorbers. Then a two-degree-of-freedom system composed of a main vibration system and a vibration absorber in the water has been considered. The optimal condition for vibration absorber has been determined with interior penalty function method and variable metric method of BFGS. The results that six parameters affecting the optimal condition of vibration absorber in the water instead of four parameters in air are obtained for the first time. These conclusions enrich content of optimization theory for parameters of vibration absorber, and have prepared design parameters for the model experiment system of reducing longitudinal vibration with vibration absorbers.
5. The specific design scheme of model experiment system for reducing longitudinal vibration with vibration absorber is proposed. This includes:a Stewart6-DOF platform simulating the motion of mining ship, a classic Voigt type of spring-damping for vibration absorber, and a size of the storing reservoir with2.6m×2.6m×3m for experiments. A lot of model experiments are done with several wave cycles. The results of experiments display good performance with the simulation. The correctness of simulation results is verified by experiment. And that showed the vibration absorber method is efficient for reducing the longitudinal vibration of lifting pipe subsystem.
引文
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