超深水混合缆绷紧式系泊系统非线性循环动力分析

由于高强聚乙烯(HMPE)和聚酯(polyester)缆绳具有各自独特的材料性能,因此提出在超深水绷紧式系泊系统中,采用高强聚乙烯和聚酯组成的混合缆作为系缆。以一系泊在超深水处的FPSO为例,系缆分别采用聚酯缆绳、高强聚乙烯缆绳以及混合缆。比较了循环载荷作用下,不同绷紧式系泊系统的动力响应。分析表明,在超深水中采用混合缆能够设计出合宜刚度的系泊系统,使系泊系统既有保持海洋浮式结构物在平衡位置的能力,又有风暴载荷下良好的生存能力。较理想的混合缆构型是:在靠近海底部分,采用高强聚乙烯缆绳;而在靠近海面部分,采用聚酯缆绳。这些认识对混合缆应用于超深水绷紧式系泊系统具有重要的参考价值。     

TLP平台码头系泊运动响应及缆绳张力研究

张力腿平台(Tension Leg Platform,TLP)码头舾装时需要采用临时多点系泊方法实现码头系泊,又因TLP平台立柱高度大、系缆布置不同于传统平台,有必要对其码头系泊运动响应和缆绳张力进行深入研究,以确保TLP平台在码头舾装期间,能够抵抗一定程度的不利气象条件。采用AQWA软件建立TLP平台码头系泊模型,同时模拟了码头靠垫以及浮箱靠垫,根据外高桥附近的气象、水文条件,通过计算,研究不规则波作用下的平台运动响应及缆绳张力,并分析两者在向岸、离岸环境载荷下的变化规律。本研究对TLP平台码头安全系泊设计具有重要的参考意义,为国内船厂TLP平台建造及码头舾装提供了重要理论依据和技术指导。     

规则波中铰接塔-油轮系统的动力响应分析

论文研究铰接系泊塔-油轮系统波流联合作用下的动力响应。考虑铰接塔-油轮单点系泊系统系缆刚度的非线性,将尼龙系缆处理为分段非线性刚度模型,采用M orison公式计算铰接塔的波浪载荷,采用线性波浪绕射理论计算波浪对油轮的作用,建立了两自由度耦合的分段非线性运动微分方程。计算了高177 m的铰接系泊塔和93 500 t油轮构成的FPSO系统的耦合动力响应,并讨论了系统运动对于系缆张力的影响。     

浪流作用下系泊船舶撞击力和系缆力试验研究

以某25万吨矿石码头工程为例,分别进行了单流、单浪和浪流共同作用下,系泊船舶撞击力和系缆力试验。研究了不同水位、不同船舶载度、不同浪流夹角,单流、单浪和浪流共同作用时对船舶撞击力和系缆力的影响。分析了该码头工程护舷和缆绳的布置情况,为工程设计提供了依据。     

畸形波作用下JIP Spar平台波浪力分析

利用时域高阶边界元法研究畸形波、系泊系统与浮式结构物耦合作用问题,运用四阶Runge-Kutta方法更新下一时间步的波面和速度势,采用非线性有限元法模拟系泊缆索的各种受力及缆索的弹性变形。以Longuet Hinggins模型为基础,调整组成波的初相位,在很短的波列中得到满足畸形波定义的波形。分析了聚焦位置、初始相位、谱峰周期、谱宽以及水流参数等对系泊JIP Spar平台缆绳力和波浪荷载的影响。将入射波浪的聚焦点分别设置在平台的迎浪侧和背浪侧,分析缆绳力和波浪荷载聚焦峰值,模拟结果发现其最大值产生在聚焦点为迎浪侧的情况。当聚焦点在迎浪侧时,缆绳力和波浪荷载聚焦峰值随着初相位的增加而减小,随着谱宽的增加而减小,而随着谱峰周期的增加而增加。     

拖曳锚在海床中运动特性的大变形有限元分析

拖曳锚由于其承载性能和深水中便于安装被广泛应用于海洋工程系泊系统中,如:适用于悬链式系泊系统的传统拖曳锚和适用于绷紧式系泊系统的法向承力锚。拖曳锚安装过程中涉及诸多运动特性:锚板运动方向、系缆点处拖曳力和拖曳角及运动轨迹。基于大变形有限元分析技术耦合的欧拉-拉格朗日法,并引入缆绳方程,建立起锚-缆绳-海床土耦合作用的有限元分析模型;模拟了拖曳锚在均质和线性强度黏土中的嵌入安装过程,研究了锚板运动方向、系缆点处拖曳力和拖曳角及运动轨迹等运动特性;通过与已有的有限元分析方法及理论方法进行对比,验证了该分析模型的有效性;与已有的有限元分析方法相比,提出的分析模型有效地提高了计算效率。     

LNG-FSRU在软刚臂系泊下水动力特性研究

针对35万立方米超大型LNG-FSRU,采用软刚臂单点系泊系统定位方式,运用模型试验与数值计算两种技术手段开展风、浪、流联合作用下水动力研究。软刚臂系泊系统各构件间的连接方式及Yoke重量模拟是数值计算与模型试验的关键,数值计算对构件间的铰接方式与Yoke重量进行模拟,模型试验同样模拟了系泊系统的相似性,并将数值计算结果与模型试验结果进行对比分析。结果表明,软刚臂系泊系统刚度曲线呈非线性,试验结果与数值结果吻合良好,表明对于软刚臂系泊系统的两种模拟是合理的,反映了LNG-FSRU在风、浪、流联合作用下的运动特性,建立的研究方法可用于软刚臂系统的水动力研究。     

深海SPAR平台系泊系统耦合动力分析

随着海洋石油向深水领域的拓展,SPAR平台以其诸多优点逐渐成为海上油气生产的主流设施。主要研究SPAR与系泊系统间的耦合响应问题,在讨论了浮体在波浪中运动求解方法之后,阐述了如何利用非线性有限元技术对系泊缆索和立管进行动力分析和张力计算,以及浮体与系泊系统耦合计算的相关理论,对浮体和系泊系统耦合计算模型进行了描述。通过对某SPAR进行系泊系统耦合计算和对计算结果的讨论,证明了深海SPAR系泊系统耦合计算的正确性。     

聚酯系缆损伤对绷紧式系泊系统动力响应影响的数值分析

由于聚酯缆绳具备优异的力学性能,促使以其为主体系缆的绷紧式系泊系统得以广泛应用和发展。但聚酯系缆具有复杂的黏弹性和黏塑性,且由于在安装和使用过程中可能产生不同程度的损伤,使得聚酯系缆的动刚度特性发生演变,从而对系泊系统的动力响应产生直接影响。以一系泊于1 020 m水深的Spar平台为例,运用ABAQUS软件建立了由聚酯缆绳组成的系泊系统有限元模型,并利用ABAQUS子程序将损伤缆绳动刚度经验公式进行导入计算,以更好地反映系缆真实的动刚度变化。基于该有限元模型,计算了在相同水流、波浪工况下,不同损伤度、不同损伤系缆的系缆张力历程和平台的横荡、纵荡位移响应,分析了不同损伤度、不同损伤系缆对系缆张力及平台位移的影响。这些成果对把握绷紧式系泊系统在聚酯系缆有损伤情况下的非线性动力响应及其安全应用具有重要的参考价值。     

首尾两点系泊系统设计及水动力性能分析

海上油轮在服役过程中受到随机风浪荷载和随机海流的共同作用,因此其系泊系统的合理设计对于实现其正常功能有着重要作用。本文以某油田开发工程为例,采用AQWA计算软件,对一艘首尾系泊的油轮进行了水动力性能分析。考虑了系泊缆的水动力特性以及系泊系统与油轮之间的耦合影响,研究了不同方向的风、浪、流等环境荷载对两点系泊系统动力响应的影响,为首尾两点系泊系统的设计应用提供了一定的参考。     

The optimum control of thruster system for dynamically positioned vessels

An offshore vessel with a dynamic positioning system (DP system) needs fast response to produce thrust to counteract the environmental forces acting on it for the purpose of maintaining its position and heading as close as possible to the working position. Therefore, quick and effective modulation of the thrust is the problem to determine the thrust and the rotation angle of the thruster devices of the ship. This paper presents an effective optimum control for a thruster system, using the sequential quadratic method to achieve economical and effective modulation of the thrust and the direction of the thruster. An optimum control study of a 2280 tons DP coring vessel with five rotary azimuth thruster marine positioning is studied in detail, which can quickly and exactly estimate the thrusts and angles of direction of all the thrusters. The results can provide a valuable thruster system for a dynamically positioned vessel.     

An Effective Control System of Thrust and Moment Modulation for a Dynamically Positioned Vessel

Dynamic positioning (DP) is an operation method whereby the position of a surface vessel is maintained in close proximity to a required position in the horizontal plane through the controlled application of forces and moments generated by purposely installed thrusters. When estimating thrust, this kind of conventional control system often uses many acceleration sensors, velocity sensors, environment sensors, and filters. Usually, these sensors have measured electrical errors. To reduce the number of sensors used and to decrease the measurement errors, this article presents an effective control system for estimating thrust and moment commands, which is based on energy and impulsemomentum principles. Donha and Brinati's example is followed to verify the feasibility of the present control system, which performs semisubmersible platform positioning using an LQG controller, and the results are feasible and economical. A simulated coring vessel marine positioning in southern Taiwan is presented, which can estimate the counterthrust and moment commands, and the complex environmental forces and moments are described. The results can provide a valuable control system for dynamically positioned vessels.     

Dynamic consequence analysis of marine electric power plant in dynamic positioning

Diesel-electric power and propulsion systems with electric thrusters are the industry standard for vessels with dynamic positioning (DP) systems. Diesel engines are paired with generators in generator sets and are used to produce electric power used by thrusters and main propellers during stationkeeping and transit, and other consumers such as hotel load, drilling drives, cranes, and heave compensators. Consequence analysis is used to verify the safety of a DP operation. It is used to check whether there is sufficient running power and thruster capacity available to retain sufficient thrust to maintain vessel position after a worst single failure. Recently, extensions of class rules enable standby generators to be considered in this analysis. This provides a more efficient configuration as relatively fewer generator sets may be running. However, DP performance is degraded during the transition from the fault occurrence until the plant is completely recovered. It is important to determine if this degradation leads to a loss of position during the transition. This study presents a simulation-based dynamic consequence analysis method that can be used to dynamically simulate fault scenarios such that the dynamics of the transient recovery can be analyzed. This analysis can be used for decision-support to configure marine electric power plants in DP. Results from the simulation study show that the currently used static consequence analysis method may provide non-conservative results under certain configurations.     

Setpoint Chasing for Thruster-Assisted Position Mooring

In the present industrial thruster-assisted position mooring (PM) systems, thrusters are used to damp the vessel's dynamical motions and to provide compensation of any line breakage. To increase robustness and extend the weather window for PM systems, this paper proposes a new concept of setpoint (SP) chasing for moderate and extreme conditions. The SP in moderate conditions is the vessel's equilibrium position where the environmental loads are balanced by the mooring forces to avoid the conflict between the control action of thruster assistance and the mooring system. To chase this SP, the thruster assistance provides additional damping and restoring forces to compensate the dynamic environmental loads while the mooring system compensates the mean environmental loads. The simulations and experiments suggested that the proposed SP chasing for moderate conditions improved the vessel performance while the utilization of the mooring system was maximized. Due to risk for mooring line breakage, the SP in extreme conditions is the position closer to the field zero point than the equilibrium position. To chase this SP, the thruster assistance provides damping, restoring force and mean force controls to compensate both the dynamic and a part of the mean environmental loads while the mooring system compensates the rest of the mean environmental loads. The simulations indicated that the proposed SP chasing for extreme conditions reduced the vessel's drift and tension in the most loaded line.      

Coupled dynamic analysis of deep-sea mining support vessel with dynamic positioning

Deep-sea mining (DSM) is an advanced concept. A simulation method of coupled vessel/riser/body system in DSM combined with dynamic positioning (DP) is proposed. Based on the three-dimensional potential flow theory, lumped mass method, and Morison’s equations the dynamic models of the production support vessel, riser and slurry pump are established. A proportion integration differentiation (PID) controller with a nonlinear observer and a thrust allocation unit are used to simulate the DP system. Coupled time domain simulation is implemented with the vessel operated in two DP modes. Results of the vessel and pump motions, riser tension, and thruster forces are obtained. It shows that the pump will be lifted by the riser when the vessel is chasing the next set point. Riser tension is influenced by the wave frequency motions of the vessel in positioning mode and low-frequency motions in tracking mode. The proposed simulation scheme is practical to study the DSM operation.     

An Effective Control System of Thrust and Moment Modulation for a Dynamically Positioned Vessel

Dynamic positioning (DP) is an operation method whereby the position of a surface vessel is maintained in close proximity to a required position in the horizontal plane through the controlled application of forces and moments generated by purposely installed thrusters. When estimating thrust, this kind of conventional control system often uses many acceleration sensors, velocity sensors, environment sensors, and filters. Usually, these sensors have measured electrical errors. To reduce the number of sensors used and to decrease the measurement errors, this article presents an effective control system for estimating thrust and moment commands, which is based on energy and impulsemomentum principles. Donha and Brinati's example is followed to verify the feasibility of the present control system, which performs semisubmersible platform positioning using an LQG controller, and the results are feasible and economical. A simulated coring vessel marine positioning in southern Taiwan is presented, which can estimate the counterthrust and moment commands, and the complex environmental forces and moments are described. The results can provide a valuable control system for dynamically positioned vessels.     

船舶机动定位技术及其实现方法

为改善动力定位船舶在高海情下的定位能力,研究了机动定位的控制方式,并设计了一种机动定位模糊控制系统。其特点是模仿人类的航海技巧,通过充分利用环境力,实现船舶的定位与机动。仿真结果表明,在高海情下,机动定位方式可以实现较高精度的定位控制,并且其辅推功率消耗较小。     

海上浮体动力定位外力计算

动力定位系统（dynamic positioning system）是一种闭环自动控制系统,采用推力器来抵抗风、浪、流等作用在浮体上的境力,使其保持在所要求的位置上。船舶的风和流作用力由经验公式求得,波浪力主要考虑二阶漂移力,由三维势流理论的直接积分法求得。通过模拟仿真,表明其结果能够用于船舶动力定位系统研究。     

Portable dynamic positioning control system on a barge in short-crested waves using the neural network algorithm

This paper develops a nonlinear mathematical model to simulate the dynamic motion behavior of the barge equipped with the portable outboard Dynamic Positioning (DP) system in short-crested waves. The self-tuning Proportional-Derivative (PD) controller based on the neural network algorithm is applied to control the thrusters for optimal adjustment of the barge position in waves. In addition to the wave, the current, the wind and the nonlinear drift force are also considered in the calculations. The time domain simulations for the six-degree-of-freedom motions of the barge with the DP system are solved by the 4th order Runge-Kutta method which can compromise the efficiency and the accuracy of the simulations. The technique of the portable alternative DP system developed here can serve as a practical tool to assist those ships without being equipped with the DP facility while the dynamic positioning missions are needed.