Theoretical prediction of running attitude of a semi-displacement round bilge vessel at high speed

Running attitudes of semi-displacement vessels are significantly changed at high speed and thus have an effect on resistance performance and stability of the vessel. There have been many theoretical approaches about the prediction of running attitudes of high-speed vessels in calm water. Most of them proposed theoretical formulations for the prismatic hard-chine planing hull. In this paper, running attitudes of a semi-displacement round bilge vessel are theoretically predicted and verified by high-speed model tests. Previous calculation methods for hard-chine planing vessels are extended to be applied to semi-displacement round bilge vessels. Force and moment components acting on the vessel are estimated in the present iteration program. Hydrodynamic forces are calculated by ‘added mass planing theory’, and near-transom correction function is modified to be suitable to a semi-displacement vessel. Next, ‘plate pressure distribution method’ is proposed as a new hydrodynamic force calculation method. Theoretical pressure model of the 2-dimensional flat plate is distributed on the instantaneous waterplane corresponding to the attitude of the vessel, and hydrodynamic force and moment are estimated by integration of those pressures. Calculations by two methods show good agreements with experimental results.     

Wave Motion Compensation Scheme and Its Model Tests for the Salvage of An Ancient Sunken Boat

1 .IntroductionIt is always hopedthat sunken merchant vessels would resume their ship performances after sal-vage ,that ancient sunkenships of archeological value would be salvagedinits entirety withlittle harmtothe cultural relics ,andthat warships with …     

A new method for weakening the combined effect of residual errors on multibeam bathymetric data

Multibeam bathymetric system (MBS) has been widely applied in the marine surveying for providing high-resolution seabed topography. However, some factors degrade the precision of bathymetry, including the sound velocity, the vessel attitude, the misalignment angle of the transducer and so on. Although these factors have been corrected strictly in bathymetric data processing, the final bathymetric result is still affected by their residual errors. In deep water, the result usually cannot meet the requirements of high-precision seabed topography. The combined effect of these residual errors is systematic, and it’s difficult to separate and weaken the effect using traditional single-error correction methods. Therefore, the paper puts forward a new method for weakening the effect of residual errors based on the frequency-spectrum characteristics of seabed topography and multibeam bathymetric data. Four steps, namely the separation of the low-frequency and the high-frequency part of bathymetric data, the reconstruction of the trend of actual seabed topography, the merging of the actual trend and the extracted microtopography, and the accuracy evaluation, are involved in the method. Experiment results prove that the proposed method could weaken the combined effect of residual errors on multibeam bathymetric data and efficiently improve the accuracy of the final post-processing results. We suggest that the method should be widely applied to MBS data processing in deep water.     

海底管线附近抛锚时锚链的设计

当船只抛锚点附近有海底管线时,为了防止置于海底的锚链对管线可能造成的危害.需要采取一定的措施将位于海底管线上方的锚链提起.结合实际工程设计采用浮筒提供足够的举升力提起锚链,并以悬链线方程为依据,推导浮筒位置和高度对锚链形状和被举升段长度的关系,从而确定出合理的浮筒举升力大小和浮筒安装位置.     

基于侧扫声纳图像海底目标物提取方法

分析了侧扫声纳数据成像原理,利用凹凸目标成像与阴影的关系,依次采用二值化处理、中值滤波处理、开启与闭合操作、Canny边缘提取等多种图像处理的手段,实现了海底目标物的提取与定位,并通过实验验证了本方法的可行性。     

A nonlinear PDE formulation for offshore vessel pipeline installation

In this paper a nonlinear dynamic PDE formulation for a pipe string suspended from a pipelay vessel to the seabed in a pipelay operation is developed. This model extends a three-dimensional beam model capable of undergoing finite extension, shearing, twist and bending, to apply for marine applications by adding the effects of restoring forces, hydrodynamic drag and seabed interaction. The model is validated against the natural catenary equation and the FEM code RIFLEX. The model is extended to include the pipelay vessel dynamics by applying a potential theory formulation of a surface vessel, suited for dynamic positioning and low speed maneuvering, as a boundary condition for the PDE. This system is found to be input-output passive and stable. Pipeline installation applications where the presented model is suited are e.g., analysis and simulation of the installation operation, operability analysis, hardware-in-the-loop (HIL) testing for vessel control systems, and automation of the pipelay operation.     

黄河水下三角洲海底管道沉降量确定方法研究

提出一种海底管道沉降计算方法——递推法,应用到胜利油田埕岛海域海底管道沉降计算中,并将计算结果与目前常用的日本规范法和极限法进行比较。研究发现在粉土与粉质粘土为主的强度较高的海床上,递推法与日本规范法计算结果比较接近,极限法的最小;在淤泥质土组成的强度较低的海床上,日本规范法的计算值最大,递推法的居中,极限法的最小。逆推法可计算裸置和埋设两种形式的管道沉降量,而另外两者只能计算裸置管道的沉降。文中进一步讨论了引起管道沉降的影响因素,土体强度和压缩性对管道沉降影响较大。且管道埋深越大,沉降也越大。最后分析了黄河水下三角洲埕岛海域4个区的管道沉降量,Ⅰ区争Ⅱ区管道沉降较小,可以忽略,Ⅳ区沉降较大,在淤泥质软土上的管道,可能会完全陷入土中。     

深海采矿系统长距离垂直输运管道力学性能研究

深海采矿系统中的长距离垂直输运管道在工作中具有复杂的流固耦合力学特性,在生产作业中其结构安全性和可靠性面临严峻考验。建立深海采矿系统从海底到水面的完整模型,采用集中质量法对于其中的长距离垂直输运管道的环境载荷进行了研究,并将计算结果与模型试验测量值进行对比验证,重点分析管道顶部轴向张力和剪力的大小关系以及变化规律。分析结果表明:在深海采矿系统的长距离垂直输运管道中,轴向张力在结构载荷占主要成分,由波浪引起的结构轴向张力增加会达到管体自重的38%～48%。因此,选择合适的作业工况对降低结构载荷,加强结构安全性能有很大帮助。     

海底地形格网数据精度指标要求分析

海底地形不易进行实地探测及核实,海底地形格网数据产品精度指标的确定不具备实地核实的条件,为了确定海底地形格网数据精度指标,通过大量的数据实验,分析得出单位面积内,一定比例的极值水深差值的平均值与海底地形之间有一定的线性关系,从而提出了通过单位面积水深插值来划分海底地形的一种量化方式,并依据实验数据,分析误差规律,给出了海底地形格网数据中误差的精度指标及方法。     

Nonlinear control of an active heave compensation system

Heave motion of a vessel or a rig has an adverse impact on the response of a drill-string or a riser. To compensate for heave motion, passive and active devices are usually used. Active heave compensators, in which a control system is an essential part, allow conducting operations under more extreme weather conditions than passive ones. This paper presents a constructive method to design a nonlinear controller for an active heave compensation system using an electro-hydraulic system driven by a double rod actuator. The control system reduces the effect of the heave motion of the vessel on the response of the riser by regulating the distance from the upper end of the riser to the seabed. The control development is based on Lyapunov's direct method and disturbance observers. The paper also includes a method to select the control and disturbance observer gains such that actuator saturations are avoided. Stability of the closed loop system is carefully examined. Simulation results illustrate the effectiveness of the proposed control system.     

Trenching effects on dynamic behavior of a steel catenary riser

The fatigue life of a steel catenary riser (SCR) near its touch-down zone (TDZ) is substantially affected by its interaction with the seabed. Therefore, accurate estimate of the fatigue life of a SCR requires the understanding and realistic modeling of this interaction. The interaction depends on several factors, such as soil properties, riser characteristics, and the development of trenching at the seabed. Existing approaches for modeling the seabed in interaction with a SCR approximate the behavior of the seabed soil by linear or nonlinear spring and dashpot, which represent the stiffness and damping of the soil, respectively. However, these approaches do not account for certain phenomena resulting from the plastic deformation of soil, such as trenching development at the seabed. In this study, a more realistic approach is developed for simulating the interaction between a SCR and the seabed. In addition to the use of a realistic P–y curve (where P stands for the supporting force of the seabed and y for the vertical penetration of the riser into the seabed) to simulate the soil deformation during its interaction with the riser, it considers the development of a trench caused by continuous impact of a riser on the seabed and then its feedback effect on the variation of the bending moment along the riser. It is found that the trenching development on the seabed may decrease the maximum variation of bending moment of a riser near its TDZ. Since the variation of bending moment dictates the fatigue damage to the SCR, the results based on this approach indicate that the trenching development at the seabed may increase the fatigue life of the SCR and hence it may have important application to the design of a SCR.     

Numerical Study on the Effect of Submerged Depth on the Horizontal Plate Wave Energy Converter

The growing search for clean and renewable energy sources has given rise to the studies of exploring sea wave energy. This paper is concerned with the numerical evaluation of the main operational principle of a submerged plate employed for the conversion of wave energy into electrical one. The numerical model used to solve the conservation equations of mass, momentum and transport of volume fraction is based on the finite volume method (FVM). In order to tackle with the flow of mixture of air-water and its interaction with the device, the multiphase model volume of fluid (VOF) is employed. The purpose of this study is the evaluation of a numerical model for improvement of the knowledge about the submerged plate wave energy converter, as well as the investigation of the effect of the distance from the plate to the bottom of the sea (HP) on the performance of the converter. The simulations for several distances of the plate from the seabed show that the optimal efficiency is 64%, which is obtained for HP=0.53 m (88% of the depth). This efficiency is 17% larger than that found in the worst case (HP=0.46 m, 77% of the depth).     

海底表层底质探测系统测试仪的设计

海底表层底质探测系统是一种新型的声学探测设备,它利用声学信号实时走航式地遥测海底的表层底质。本测试仪用于在试验室条件下对海底表层探测系统性能的测试。由于该测试仪在设计过程中充分考虑到了目前测深仪的情况,所以也可以用于测深仪的性能测试。     

Estimation of the Roll Hydrodynamic Moment Model of a Ship by Using the System Identification Method and the Free Running Model Test

When a fast container ship or a naval vessel turns, accompanying roll motions occur. This roll effect must be considered in the horizontal equations of the motion of the ship to predict the maneuverability of the ship properly. In this paper, a new method for determining a model structure of the hydrodynamic roll moment acting on a ship and for estimating the hydrodynamic coefficients is proposed. The method utilizes a system identification technique with the data from sea trial tests or from free running model (FRM) tests. To obtain motion data that is applied to the proposed algorithm, an FRM of a large container ship was developed. Using this model ship, standard maneuvering tests were carried out on a small body of water out of doors. A hydrodynamic roll moment model was constructed utilizing the data from turning circle tests and a 20-20 zig-zag test. This was then confirmed through a 10-10 zig-zag test. It was concluded that a model structure of the hydrodynamic roll moment model could be established without difficulty through a system identification method and FRM tests.     

天然气水合物开采区内海床不均匀沉降对管道力学性能的影响

海底管道是天然气水合物大规模开采和集输的关键装备。天然气水合物的开采过程会扰动沉积层的结构,改变沉积层的强度和力学特性,诱发海床发生不均匀沉降,并对水合物开采区内海底管道的力学特性产生影响,如引起管道发生大变形、悬跨、屈曲、断裂等。基于ABAQUS有限元软件,建立天然气水合物开采区内“海床-管道”耦合作用模型,模拟了天然气水合物开采过程中海床沉降变形及其对管道应力、应变、弯矩、悬跨等力学行为的影响。研究结果表明,在天然气水合物开采过程中,海床的不均匀沉降将引起管道发生显著位移并发生弯曲,管道的应力、应变随着变形的增大而增大。当海床沉降量达到某一程度时,管道将脱离海床,产生悬跨,并引发涡激振动风险。     

Delaunay三角网增点生长构造法研究

论述了一种由计算机自动生成Delaunay三角网的增点生长构造法。该方法属于不规则三角网的动态构网法，它借鉴了静态构网法中递归生长算法的部分思想，并利用Lawson提出的最大最小(MAX—MIN)角度法则对三角网进行即时的局部优化，从而达到了快速、有效地构建Delaunay三角网的目的。该方法对快速生成海底DEM数据，进行海底仿真具有重要的作用。     

Effect of water leakage in tunnel lining on structural performance of lining in subsea tunnels

This paper presents the results of an investigation into the effect of lining leakage on the structural performance of lining in subsea tunnels. A parametric study on a number of hypothetical subsea tunnels was conducted within the framework of two-dimensional stress–pore pressure coupled finite element analysis with due consideration of tunnel cover depth, depth of water to seabed, and ground type. The results indicate that the lining leakage increases axial thrust as well as bending moment, with more pronounced increases in bending moment. Also shown is that there exists an increasing trend of leakage induced lining forces with an increase in the water depth above the seabed but with no significant influence from the cover depth. It is also shown that the progressive development of leakage induced lining forces can be best fitted with an exponential function which can be used to predict the lining force increase for a given tunnel condition. Practical implications of the findings are discussed.     

Elimination of Wind Wave Effects on Sub-Bottom Profiler Record

With the presence of wind waves, the swaying of survey vessel may effect the quality of sub-bottom profiler records and, therefore, it is necessary to correct the distortions induced by wave action. A major issue is to distinguish wind wave effect and real bedforms such as sand waves. In this paper, a bandstop filter is designed according to the frequency features of wind wave effect to treat the distortion of seabed topography by wind waves. The technique is used to correct the sub-bottom profile in order to eliminate the wave-induced distortions for the sub-bottom profile records from the Yangtze Estuary. This study shows that the undulate seabed record is resulted from wave action, rather than the presence of sand waves, and the filtration technique helps to eliminate the wave effect and recover the real morphology of seabed and the sediment sequence underneath. In addition, a method for data processing is proposed for the case that the record indeed represents a combination of wave effects and real bedforms.     

深海采矿细颗粒羽状流数值模拟研究

深海采矿尾矿排放产生的细颗粒羽状流会对海底生态环境造成影响,预测尾矿排放羽状流行为及其对环境影响具有工程意义。基于欧拉多相流方法,采用欧拉双流体模型对深海采矿细颗粒羽状流开展数值模拟研究,分析近海底排放的羽状流演化和发展过程,探究羽状流初始排放质量浓度、排放速度对羽状流扩散过程的影响。结果表明：初始排放条件对羽状流演化性质有重要影响。主射流区被稀释的程度随着初始入射速度的增大而减小,随着入射质量浓度的增大而增大;初始羽状流入射速度和质量浓度越大,撞击海底后的水平方向流动速度越快,影响区域越广;水平速度的峰值随着初始入射速度的增大呈对数增长;当初始质量浓度和速度高于50 g/L和 0.5 m/s 时可能会导致颗粒在海底撞击点附近堆积成坡状,影响底流的后续发展。研究结果可以为深海采矿尾矿排放参数选择提供参考。