球柱壳耐压舱体极限承载力研究

耐压舱设计是水下机器人的核心技术之一,其极限承载力研究是核心中的核心。针对球壳封盖加柱形壳体耐压舱,现行标准对于初始导入缺陷数值的确定往往过于保守,对于耐压舱体数量较多的无人潜水器来说,过大的设计质量是总体设计所无法接受的。首先采用装配体整体建模策略,建立复合屈曲的受力模型,将三大非线性影响因素同时引入到极限承载力研究中,提升了计算精度。然后分别针对确定性缺陷和非确定性缺陷结构开展极限承载力研究。最后,提出以0.23%的初始缺陷导入尺度作为球壳封盖加圆柱壳体的耐压壳体缺陷导入参数,给出了导入尺度的计算方法,并借助水压试验对上述参数的准确性进行验证。     

初始几何缺陷对管道极限承载力影响研究

初始几何缺陷被认为是影响管道极限承载力和稳定性的重要因素,但是大部分的管道力学特性研究都没有考虑初始缺陷的影响。基于管道几何尺寸测量机,获得管道的壁厚和直径沿轴向以及环向的分布规律。据此建立了四个三维实体有限元模型,分别为完好管道模型、只考虑直径缺陷的管道模型、只考虑壁厚缺陷的管道模型以及考虑所有缺陷的管道模型。分析了初始缺陷对管道的极限内压承载力、极限轴力承载力和极限弯矩承载力的影响。结果表明,直径缺陷对管道的极限内压承载力影响较大;壁厚缺陷对管道在复杂荷载作用下的极限弯矩承载力影响较大。     

腐蚀管道在内压和轴向压力影响下的弯曲破坏

运行在恶劣环境中的海底管道,往往受到内压、轴力和弯矩等复杂荷载的联合作用。腐蚀会导致管壁局部变薄,降低管道极限承载力。为保证管道安全高效运行,准确预测和分析复杂荷载作用下的塑性极限承载力和变形行为就显得尤为重要。考虑大应变和大变形、应力强化和材料非线性,运用数值仿真软件建立腐蚀缺陷管道的三维实体有限元模型,在全尺寸管道破坏试验验证的基础上,对腐蚀管道在内压、轴向压力和弯矩相互作用下的失效模式和极限弯矩承载力进行了相关研究,并进行了腐蚀缺陷几何参数的敏感性分析。研究结果表明:初始内压和初始轴向压力会显著降低腐蚀管道的极限弯矩承载力,并且影响最终的失效模式;在腐蚀缺陷几何尺寸参数中,腐蚀宽度比腐蚀深度和腐蚀长度的影响更大。     

含缺陷球柱组合壳极限承载能力分析

球柱组合壳是单壳体潜艇耐压船体结构的主要形式,其结构在极限载荷作用下的极限承载能力和变形是评估潜艇结构安全性的重要指标。 在试验模型基础上,根据三维实测初挠度数据建立含缺陷的球柱组合壳有限元模型,将极限强度计算结果与试验数据对比分析,结果表明:上述数值方法准确可靠,且缺陷的引入对于工程上潜艇结构的极限承载能力评估具有实际意义。     

有限元法在桩靴承载力计算中的应用

自升式钻井平台插桩是地基土在桩靴荷载作用下发生连续的塑性破坏的动态过程,当地基极限承载力等于桩靴荷载时插桩完成。经典土力学极限承载力理论对土体潜在滑动面做了假设,无法有效分析土体内部的破坏过程。本研究应用有限元法（FEM ）对插桩过程进行了模拟,得到地基土的破坏机制以及中间荷载下土体的应力、应变情况,通过和各理论公式计算的极限承载力进行对比分析,分析影响地基极限承载力的因素。研究表明,基础宽度与硬土层厚度的比值 B/H越大,下卧软土层越容易发生塑性破坏,极限承载力明显下降,当B/H＜0．286时,可以忽略下卧软土层对地基承载力的影响。     

多层砂土地基扩底桩单桩抗压模型试验及颗粒流模拟研究

利用室内半模试验和颗粒流数值模拟,揭示多层砂土地基扩底桩单桩抗压承载特性及变形特征。结果表明,通过对比分析极限承载力与H_h/D(持力层厚度与扩大头直径之比)的关系可以看出,单桩的抗压极限承载力随H_h/D逐渐增加,当H_h/D超过2.0时,极限承载力基本不再增加,此时的单桩抗压极限承载力稳定在300.01~303.25 N,是H_h/D=0.5时极限承载力(183.83 N)的1.65倍。扩大头下部土体发生局部压缩-剪切破坏,破坏面从扩大头底面边缘向斜下方扩展,在水平方向影响范围达到最大后逐渐向桩内侧收缩;荷载作用越大,地基破坏区域越大,相应的极限抗压承载力也越大;持力层厚度增加,扩大头分担的荷载比例增大,分担的荷载达到稳定需要的桩顶位移也越大,H_h=0.5 D试验扩大头分担的荷载比例稳定时为60%,对应的桩顶位移约为29 mm;桩顶位移达到33 mm后,H_h=1.0~3.0 D试验稳定在63%~65%之间;通过细观颗粒流理论对砂土移动特性的研究发现,持力层厚度从0.5 D增大至2.0 D,破坏面的起始扩展角度从31°增大至42°。数值模拟研究结果与模型试验数据吻合效果良好,证明该方法分析多层砂土地基扩底桩单桩抗压荷载传递机理是可行的。     

轻载作业型载人潜水器耐压球壳设计

耐压球壳是载人潜水器的关键部件,对于载人潜水器的安全性、总体性能等诸多方面均有重要的影响。针对轻载作业型HOV耐压球壳的设计,确定了壳体材料、结构形式和主要尺度,完成了基于规范的耐压球壳强度校核和稳定性分析,设计了开孔加强结构,完成了基于有限元耐压球壳模型强度校核。最后,在考虑了材料非线性、初始缺陷等因素的基础上,采用弧长法完成了耐压球壳的稳定性分析。结果表明耐压球壳的设计方案满足规范要求,为深水轻载作业型载人潜水器耐压球壳的设计提供了参考。     

海底防沉板—桩复合基础承载特性数值分析

为了研究桩长对海底防沉板—桩复合基础在水平、弯矩和扭转荷载作用下承载特性的影响,以我国南海水深200 m的某工程实例为研究对象,利用Flac3D有限差分仿真软件建立了计算模型。研究了桩长为4 m、6 m和8 m的防沉板—桩复合基础在水平、弯矩和扭转荷载作用下的极限承载力和荷载传递机理。结果表明,桩长超过6 m时复合基础的水平承载力显著增长,在水平加载过程中,防沉板总是先达到极限状态而破坏,桩基础的贡献在加载后期体现,且桩长为4 m、8 m时,桩基础与防沉板的连接处弯矩最大;随着桩长的增加,复合基础的抗弯承载力大幅提高,桩基础对复合基础的抗弯承载力贡献增大,当桩长超过8 m,桩长的增加对提高复合基础的抗弯承载力意义不大;在弯矩加载过程中,桩长对于防沉板、桩基础的荷载分配有显著影响,桩长为4 m时,外荷载主要由防沉板承担,当桩长超过4 m时,外荷载主要由桩基础承担;当扭转荷载不超过2 100 k N·m时,防沉板承担主要荷载,直至防沉板达到极限状态而发生旋转,随后桩基础的承载力逐渐发挥;对于桩长为6 m、8 m的复合基础,其极限状态根据防沉板适用性准则确定。     

非对称局部壁厚减薄海底管道的屈曲分析

在深海环境中,海底管线不仅承受较高外压,还会因为海水及运输介质的常年侵蚀而形成腐蚀缺陷,而腐蚀缺陷往往会导致管道的外压承载力下降。基于壳体稳定性理论,建立了含有非对称局部壁厚减薄管道在外压作用下的屈曲压力理论公式。公式具有广泛的适用性,当内、外局部壁厚减薄深度相等时,可用于计算含有对称局部壁厚减薄管道屈曲压力,而当内部或外部缺陷深度为零时,便可用于计算只含外部或者内部腐蚀缺陷的管道屈曲压力。通过有限元分析验证了该公式的正确性,结果表明公式可以准确预测不同缺陷位置及尺寸时管道的屈曲压力。详细研究了局部壁厚减薄缺陷位置、长度和深度等参数对屈曲压力的影响。研究表明,局部腐蚀对管道的屈曲压力产生重要影响,尤其当腐蚀角度和深度较大时,在腐蚀形成初期就会造成管道的承载力急剧下降,并且管道的屈曲压力与缺陷的径向位置有关,腐蚀缺陷位于管道外侧时的屈曲压力明显大于其位于管道内侧时的屈曲压力。     

离岸深水全直桩码头承载性能有限元分析

全直桩码头是适于软土地基上离岸深水海域的新型高桩码头结构型式,其承载机理与传统高桩码头存在较大差异,且软土地基循环软化效应显著。建立全直桩码头结构与地基相互作用三维弹塑性有限元模型,基于二次开发采用拟静力法对土体循环软化效应进行模拟。通过有限元模型研究全直桩码头的承载特性与破坏模式,并探讨水平极限承载力的影响因素。研究表明水平荷载作用下,基桩的塑性破坏是结构失稳的控制因素,地基土体的承载力对结构水平极限承载力不起决定性作用;竖向荷载作用下,结构竖向极限承载力由地基土体强度决定。研究范围内入土深度对结构水平极限承载力影响不大,但桩壁厚度减小或考虑土体软化后,结构水平极限承载力明显降低。设计中,增加入土深度可有效减小土体软化引起的水平极限承载力降低程度,且应考虑结构腐蚀和土体软化对水平极限承载力的双重降低效应,为钢管桩预留足够的腐蚀富裕量。     

An ROV Stereovision System for Ship-Hull Inspection

Ship hulls, as well as bridges, port dock pilings, dams, and various underwater structures need to be inspected for periodic maintenance. Additionally, there is a critical need to provide protection against sabotage activities, and to establish effective countermeasures against illegal smuggling activities. Unmanned underwater vehicles are suitable platforms for the development of automated inspection systems, but require integration with appropriate sensor technologies. This paper describes a vision system for automated ship-hull inspection, based on computing the necessary information for positioning, navigation, and mapping of the hull from stereo images. Binocular cues are critical in resolving a number of complex visual artifacts that hamper monocular vision in shallow-water conditions. Furthermore, they simplify the estimation of vehicle pose and motion, which is fundamental for successful automatic operation. The system has been implemented on a commercial remotely operated vehicle (ROV), and tested in pool and dock tests. Results from various trials are presented to demonstrate the system capabilities     

含初始缺陷海底管道侧向屈曲临界力的参数解

未埋设的海底管道在高温高压运行条件下可能发生侧向屈曲,情况严重时影响海底管道的结构安全。侧向屈曲临界力作为判定海底管道发生侧向屈曲的重要依据,主要影响因素有初始缺陷、管土相互作用等。现有关于侧向屈曲临界力的公式并未考虑管土相互作用、缺陷不平直度和管道自身材料特性对侧向屈曲临界力的综合影响。建立含有通用几何初始缺陷海底管道的数值模型,使用Riks算法进行参数分析以研究极限侧向土壤阻力、管道缺陷不平直度和截面几何尺寸对海底管道侧向屈曲的具体影响。基于量纲分析法和多元线性回归,推导出海底管道侧向屈曲临界力关于上述3个影响参数的一般公式,并对该公式进行了检验,结果表明文中推导的公式在参数涵盖的研究范围内有效。     

Impact Buckling and Post-Buckling of Elasto-Viscoplastic Cylindrical Shell Under Torsion

The dynamic torsional buckling and post-buckling of elasto-plastic circular cylindrical shell isstudied.By the usage of the Bodner-Partom constitutive relation,the present visco-plastic problem is treat-ed as an orthotropic elastic problem.Based on the nonlinear large deflection shell therory,the governingdynamic buckling equation is solved by the Runge-Kutta method,and the critical buckling stress is deter-mined by the B-R criterion.The present paper is mainly focused on the imperfection sensitivity,the strainrate sensitivity,and the dynamic post-buckling characters for the shell loaded dynamically with a constantshear strain rate.Numerical results show that the critical shear stress and imperfection sensitivity will in-crease with the increase of strain rate.It is found that the elastic buckling stress is more sensitive toimperfection than the visco-plastic buckling.The present research also reveals some dynamic post-bucklingcharacters for the cylindrical shell,and it is shown that the shell will vibra     

Small waterplane area ship models: Re-analysis of test results based on scale effect and form drag

The first systematic model series of hulls with small waterplane area (both single hulls and twin-hulls) was designed and tested in Krylov Shipbuilding Research Institute in the middle of the 1980's. The series was intended to cover a broad range of Froude numbers, hull aspect ratios, design drafts, and spacing between hulls. In the present paper, these test results are re-analyzed by accounting for the scale effect in the form drag, obtained from the comparison with test data of larger out-of-series models. Illustrative results are also given for the influence of the cross-section hull shape, strut configuration, and shifted hulls on the residual resistance and for dynamic trim and draft. Some data are compared with those of the later series tests of twin-hull models with small waterplane area carried out in HSVA, Germany. Factors influencing the residual resistance of ships of this type are discussed.     

Interaction of oblique waves with an infinite cylinder

A Green's function procedure is applied to compute the oblique wave interaction with a cylinder of arbitrary section on the free surface in water of infinite depth. Also, the hydrodynamic coefficients associated with the motion of the cylinder oscillating in its three degrees of freedom, periodic along its axis, are treated. A computer program based on the present procedure is found to be accurate and efficient. The results are applicable to the analysis of floating breakwaters, floating bridges, ship hulls and other elongated structures on a free surface.     

Numerical study on lateral buckling of pipelines with imperfection and sleeper

Lateral buckling is an important issue in unburied high-temperature and high-pressure (HT/HP) subsea pipelines systems. The imperfection–sleeper method is one of the most well-known methods used to control lateral buckling of HT/HP pipelines. Pipelines–sleeper–seabed numerical models are established and verified to analyze the buckling behavior of pipelines using the imperfection–sleeper method. The influence of six main factors on lateral buckling behavior is investigated in details based on the numerical results. Equations of buckling displacement (buckling displacement is defined by the final displacement of the middle point of the pipelines), critical buckling force, and buckling stress (Mises stress) are proposed using the gene expression programming technique. These equations show good accuracy and can be used to assist in the design of sleepers and assess the compressive and stress levels of pipelines.     

用于拆平台的双船协同动力定位试验研究

大型海洋结构物的退役和拆除是油气行业面临的一个巨大挑战。双船起重拆除法提供了一种低成本、高效、灵活的解决方案,该方案采用两艘具有动力定位功能的半潜运输船从平台两侧将平台上层组块托起,随后协同托举运输至第三艘半潜运输船上后转运送至陆地。在这个过程中涉及到两艘及三艘船的协同动力定位作业,这对动力定位系统的同步性具有很高要求。多船近距离协同动力定位会受到螺旋桨与螺旋桨、船体与船体及螺旋桨与船体之间的干扰,动力定位的性能会受到影响。为此开展了相应的水池模型试验研究,对复杂环境下多船协同动力定位性能进行了分析,包括定位精度、功率消耗等,并对动力定位风险点进行了深入研究,验证了双船起重拆除法的可行性,并对实际工程的施工提供一定指导意见。     

Optimum design of filament-wound multilayer-sandwich submersible pressure hulls

Submersible pressure hulls with fiber-reinforced multilayer-sandwich constructions have been developed in recent years as substitutes for classical metallic ring-stiffened pressure hulls. This study aims to optimize the design of filament-wound multilayer-sandwich submersible pressure hulls, taking into consideration the shell buckling strength constraint, the angle-ply laminated facing failure strength constraint and the low-density isotropic core yielding strength constraint under hydrostatic pressure using the hybrid genetic algorithm (HGA). The thickness of the facing, the thickness of the core layer, the orientation angle of the fibers in the facings and the shear modulus of the core material are taken as design variables. A sensitivity analysis is performed to study the effects of the operational depths and the hull shell geometry parameter, the length-to-diameter ratio (L/D), on the optimal design of filament-wound multilayer-sandwich submersible pressure hulls with graphite/epoxy, glass/epoxy and boron/epoxy composite facings. The results reveal that the optimal weight of various sandwich pressure hulls increases linearly with the operational depth, but it is almost unchanged as the geometry paramter. Furthermore, Graphite/Epoxy is the best choice for the material of the facings in a light-weight design. With reference to wall design, Boron/Epoxy is the best choice for the material of the facing at shallow depths, but Graphite/Epoxy is the best choice at extreme depths. Results of this study provide a valuable reference for designers of underwater vehicles.     

Multi-vessel seakeeping computations with linear potential theory

The wave-induced motion of two vessels in close proximity is studied using traditional two-dimensional (2D) and three-dimensional (3D) boundary element methods. Added mass, damping, and the behavior of the free surface between the vessels are examined in some detail. As expected based on previous work, the response of the water between the vessels is found to have a profound effect on the hydrodynamic forces. At “critical frequencies” corresponding to standing waves between the hulls, the hydrodynamic forces undergo significant drastic changes. The 2D and 3D results are compared, and the effects of a skew angle between the vessels are examined. Some of the consequences of the behavior at the critical frequencies for simulations in the time domain are examined, the most significant of which is a very lightly damped impulse response.