钢管脐带缆扭转平衡设计

钢管脐带缆包含多种螺旋缠绕的功能单元，其在外力载荷下会发生相对运动，而且钢管的刚度较大对扭转平衡有重要影响，因此，相对于普通电缆，钢管脐带缆在扭转平衡设计时更加困难。根据扭转平衡理论公式，采用控制变量法，以第二层铠装钢丝的绞合角度为变量进行扭转平衡设计。首先建立脐带缆缆芯有限元模型，对其施加拉伸载荷，结果显示缆芯出现了扭转，这证明不能将脐带缆缆芯视为一实心圆柱。其次建立不同绞合角度的脐带缆有限元模型，设置各功能单元的材料属性和摩擦系数，分析模型在拉伸载荷下的扭转角度，并将相同拉伸载荷下的扭转角度拟合为直线，从而得到钢管脐带缆在扭转平衡状态时的最优绞合角度。最后，采用试验方法对实物钢管脐带缆进行扭转平衡测试，测试结果显示在拉伸载荷下脐带缆单位长度扭转角度十分微小，这表明缆是扭转平衡的。因此验证了使用的有限元方法在钢管脐带缆扭转平衡设计中的有效性。     

深海采矿车布放回收中脐带缆轴向张力响应特性研究

在深海采矿车布放回收中,准确预报脐带缆在底部自由悬垂边界条件和顶部波浪载荷随机激励等共同影响下的动力响应是关键点之一。基于三维势流理论与集中质量法,结合水面支持船运动和海流联合激励,对深海布放回收中脐带缆的顶端张力等力学特性进行研究。结果表明：在布放回收过程中,轴向张力在结构载荷中占主要成分;由波浪引起的轴向张力极值与均值差距最大可达到54%;轴向张力的频谱存在双谱峰,分别为 0.14 Hz的主峰和0.10 Hz 的次峰;当浪向角为180°时,轴向张力处于峰谷。     

不同浪向下脐带缆与主平台回接过程中的动力学响应

参考文昌油气田的脐带缆截面设计及具体工作环境参数,利用水动力分析软件OrcaFlex建立了文昌缆与主平台回接过程中的动力学响应模型,计算了在不同浪向下脐带缆在与主平台回接过程中的水动力响应。通过水动力分析结果可知:绞车的牵引速度和浪向的改变对脐带缆的牵拉过程有很大影响;脐带缆发生明显弯曲的部位von mises应力也会发生明显变化,但应力仍小于API 2RD的允许应力,可满足工程安全要求。     

On the motions of the underwater remotely operated vehicle with the umbilical cable effect

In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.     

深水脐带缆结构阻尼的数值与试验研究

深水动态脐带缆内部结构复杂,其阻尼特性对脐带缆的舞动以及疲劳损伤有着重要的影响。脐带缆在和流体相互作用过程中,脐带缆内部构件可能会产生滑动,进而影响脐带缆的结构阻尼,这也使得真实海况中脐带缆的舞动和疲劳是一项复杂而值得深入研究的课题。为验证有限元模型能够很好地模拟脐带缆的结构阻尼特性,在考虑内部结构单元间摩擦的基础上,利用ANSYS建立了用于中国南海某油田的脐带缆多层滑移接触摩擦模型。同时,采用自由衰减法对该动态脐带缆开展了原型试验,测得了该缆的结构阻尼比与自振周期。通过对比有限元模型计算结果与原型试验结果发现：数值模型获得的该脐带缆的结构阻尼值与试验值非常接近,这为工程中获得脐带缆结构阻尼比的值提供了好的方向。     

A Geometrically Exact Formulation for Three-Dimensional Numerical Simulation of the Umbilical Cable in A Deep-Sea ROV System

This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle (ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized- implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current.     

A Geometrically Exact Formulation for Three-Dimensional Numerical Simulation of the Umbilical Cable in A Deep-Sea ROV System

This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle(ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized-a implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current.     

Investigation on Cutting Stability of Jacket in Decommissioning Process

Jacket cutting operation is one of the most complicated and highest risk operations in the process of decommissioning offshore piled platform, the security and stability of which must be assured. In this paper, the current research on offshore structure removal and jacket cutting is introduced, on the basis of which the types of load along with the load calculation method are determined. The main influences on the stability of a jacket in cutting are analyzed. The experiment test plan is drawn by using orthogonal testing method, and the formula of critical load during the cutting procedure is deduced by differential evolution algorithm. To verify the method and results of this paper, an offshore piled platform to be decommissioned in the South China Sea is taken for an example, and the detailed schedule for jacket cutting is made with the three-dimensional finite element model of the jacket established. The natural frequency, stress, strain and stability of the jacket during cutting process are calculated, which indicates that the results of finite element analysis agree well with that of the deduced formula. The result provides the scientific reference for guaranteeing the safety of jacket in cutting operation.     

深海观测系统脐带缆形态分析及计算

通过对水下拖曳系统脐带缆索的受力情况、形态进行分析，建立了三维空间缆索的物理模型和数学模型，并在此基础上编制了计算程序，对6000m深海观测系统脐带缆的性状进行了模拟计算，其结果为深拖系统最佳缆长的确定提供了理论依据。     

遥控水下机器人脐带缆收放绞车设计及牵引力分析

脐带缆收放技术是有缆遥控水下机器人的一项关键技术,该技术直接影响水下机器人载体的收放及作业过程中脐带缆的安全。针对目前水下机器人收放系统中脐带缆收放技术的特点,给出了一种具有自动排缆、低张力缠绕、能够提供大牵引力和安全制动功能的紧凑新式脐带缆绞车方案,并对牵引绞车与储藏绞车之间脐带缆张力与牵引绞车的牵引力进行了理论分析,给出了二者之间的关系函数。     

基于模糊故障树方法的脐带缆可靠性分析研究

脐带缆作为水下生产系统的“神经生命线”,是水下生产系统的关键一环,其可靠性问题越来越受到关注。影响脐带缆可靠性的事件具有随机性,目前缺乏对这些随机事件发生概率的统计,难以直接对其可靠性进行定量分析。基于模糊数理论和故障树结合的方法对脐带缆可靠性进行分析,首先获得引起脐带缆失效的40个最小割集及底事件重要度排序。其次采用基于模糊集理论的定量分析对脐带缆故障树系统中的底事件进行统计计算,得到各底事件的失效概率,最终计算出顶事件概率,并得出导致脐带缆失效的主要因素依次为护套/铠装失效、钢管失效、电缆失效,为脐带缆的安全运行提出适当的建议。     

An Integrated Hydrodynamics and Control Model of A Tethered Underwater Robot

An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.     

广东省海上风电海缆路由廊道研究

为增强对海上风电海缆路由廊道的认识以及促进海上风电项目集约节约用海,文章梳理广东省海上风电路由选划的基本情况,分析统一划定海上风电海缆路由廊道的困境及其原因。研究结果表明：虽然自然资源部门在审批过程中不断呼吁建立海缆路由廊道,并与企业和地方政府等利益相关者基于集约节约用海等原则选划部分海缆路由的登陆点,但海缆路由廊道仍面临选划工作严重滞后于产业发展、利益相关者复杂且众多以及技术工艺存在不确定性等难题,亟须加强与相关部门的协调,将路由廊道规划统一纳入国土空间规划体系,及时总结海上风电和海缆的相关技术并借鉴先进经验,科学合理地划定海上风电海缆路由,进而发挥路由廊道对海上风电产业发展的政策促进和引导作用。     

海洋油气田水下设施的防渔业损坏

为保障海洋油气开采的安全和顺利,文章以我国南海东部海域为例,在概述渔场和渔船基本情况的基础上,分析拖网对海洋油气田水下设施可能造成的损坏,并提出相关建议。研究结果表明:对海洋油气田水下设施影响最大的捕捞作业方式是拖网;双拖网渔船产生的最大拖曳力远大于脐带缆所能承受的最大拉力,很有可能损坏脐带缆等水下设施;应对渔船作业水域的海洋油气田水下设施采取保护措施,限制可能损坏水下设施的渔船作业,加强管理和培训以及通过技术手段对相关情况进行监测和处理。     

A floating tied system for an offshore airport

This paper presents a new system for a floating offshore airport. It consists of an assembly of precast boxes, each of them tied with a cable system. The (tension) cable system acts as a bracing against any lateral forces during airport operation. It also prevents the boxes from oscillating and moving during the airport construction and operation. The space inside each box can be utilized for other purposes. A top slab system consisting of precast and cast in situ concrete slabs will form the platform of the airport. Finally, a proposed method of construction is also presented. The new system offers an easier construction method and allows future airport extension and even relocation.     

Parametric study on offshore jacket launching

Platform structures are commonly utilized for various purposes including offshore drilling, processing and support of offshore operations. Jacket type structures are attractive in relatively shallow water regions. A jacket is a supporting structure for deck facilities stabilized by leg piles through the seabed. The size of a jacket is dependent on deck size, pile dimensions and environmental loads. In a jacket design, operational and environmental loads are very important and must be investigated intensively to secure the stability of structures during their operation life, and installation phase as well. To confirm the stability, several analyses including in-place, fatigue, dynamic, load-out, transportation, lifting, and launching are performed. As the jacket weight and dimensions become large, a launching technique is applied to install the jacket. The launching analysis needs to consider quite a number of parameters including environmental conditions, launch barge specification, ballast, trim angle, local member integrity, etc. Due to the complexity of the operation, there is not a straightforward guideline or procedure for analysis. In this paper, a general procedure for analysis with various conditions and launching criteria are discussed and investigated. The effects of parameters are closely examined by numerical modeling.     

A new approach for mobile and expandable real-time deep seafloorobservation - adaptable observation system

Although submarine cable in-line seafloor observation systems are very effective tools for real-time/long-term geo-scientific measurements,, there are technological difficulties for deploying as many sensors as on land. To solve this problem, JAM-STEC developed an expandable and replaceable satellite measurement station called the adaptable observation system (AOS). The AOS is a battery operated mobile observatory connected to the backbone cable system by a 10 km long thin fiber cable to ensure real-time data recovery. The system consists of a branching system, a junction box, a fiber cable, and a battery system for a six-month operation. Installation and construction of the AOS will be conducted by a towed vehicle and an ROV. A thin fiber cable-laying system was developed and tested for practical operation. This observation system provides a chance to extend existing seafloor networks from an in-line area to a wider area     

Study on Dynamic Characteristics of Hydraulic Pumping Unit on Offshore Platform

A new technology of offshore oil rod pumping production is developed for offshore heavy oil recovery. A new type of miniature hydraulic pumping unit with long-stroke, low pumping speed and compact structure is designed based on the spatial characteristics of offshore platforms. By combining the strengths of sinusoidal velocity curve and trapezoidal velocity curve, a kinematical model of the acceleration, the velocity and displacement of the pumping unit''s hanging point is established. The results show that the pumping unit has good kinematic characteristics of smooth motion and small dynamic load. The multi-degree-of-freedom dynamic model of the single-well pumping unit is established. The first and second order natural frequencies of the sucker rod string subsystem and the pumping unit subsystem are studied. The results show that the first and the second order natural frequencies among the pumping rod string, pumping unit-platform subsystem and the dynamic excitation have differences over 5 times from each other, indicating that resonance phenomenon will not appear during the operation and the dynamic requirements for field use are met in the system.     

支撑结构频率对海上风机动力响应的影响机理研究

海上支撑结构的优化设计是海上风机技术发展的必然趋势,降低支撑结构的载荷是保证风机安全运行的有效途径。海上支撑结构受到风浪复杂环境荷载作用,风、浪载荷决定着塔底承受较大的剪力和倾覆力矩,同时风浪的随机性和周期性会影响塔架的疲劳载荷。基于海上风机支撑结构频率对载荷影响的研究,分析海上支撑结构频率对叶片根部挥舞和摆振响应的影响,探究频率对风机响应的影响机理。研究表明：波浪频率诱导是基础疲劳载荷响应的主要原因;开展单桩基础设计,当整机频率确定时,基础变径段可设置于浪溅区下部区域范围;叶片摆振响应受1P频率影响较大,在风机设计时可增加叶片摆振方向的阻尼;当整机频率邻近3P频率时,塔筒刚度变化对基础载荷响应的影响大于基础刚度变化;海上支撑结构设计时可优先考虑塔筒刚度。     

锥角对锥体结构抗冰性能影响的离散元分析

在寒区海洋工程中,锥体海洋结构的尺寸参数对其破冰性能具有重要影响。采用具有黏结-破碎功能的离散元方法模拟海冰与锥体结构的相互作用过程中海冰的破坏模式及冰载荷分析。该离散元方法的计算参数通过与渤海油气平台的实测数据对比进行了可靠性验证。在此基础上,当设计海域的潮差固定时,对不同锥角下风电单桩锥体结构的冰载荷和海冰破坏模式进行了离散元分析。计算结果表明:锥体冰载荷随锥角的增大而增大,海冰的平均断裂长度则随锥角的增大而减小;当锥角小于70°时海冰的破碎模式主要为弯曲破坏,而当锥角大于70°时海冰破坏模式则主要为挤压破碎。以上研究结果可为冰区海上风电单桩结构的抗冰锥设计提供参考。