Parameter identification of nonlinear roll motion equation for floating structures in irregular waves

In order to predict the roll motion of a floating structure in irregular waves accurately, it is crucial to estimate the unknown damping coefficients and restoring moment coefficients in the nonlinear roll motion equation. In this paper, a parameter identification method based on a combination of random decrement technique and support vector regression (SVR) is proposed to identify the coefficients in the roll motion equation of a floating structure by using the measured roll response in irregular waves. Case studies based on the simulation data and model test data respectively are designed to validate the applicability and validity of the identification method. Firstly, the roll motion of a vessel is simulated by using the known coefficients from literature, and the simulated data are used to identify the coefficients in the roll motion equation. The identified coefficients are compared with the known values to validate the applicability of the identification method. Then the roll motion is predicted by using the identified coefficients. The prediction results are compared with the simulated data, and good agreement is achieved. Secondly, the model test data of a FPSO are used to identify the coefficients in the roll motion equation. Then the random decrement signature of the roll motion is predicted by using the identified coefficients and compared with that obtained from the model test data, and satisfactory agreement is achieved. From this study, it is shown that the identification method can be effectively applied to identify the coefficients in the nonlinear roll motion equation in irregular waves.     

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。     

A New Model for Ice Forces on A Conical Structure

The ice force is an important factor to be taken into account for offshore structures in cold regions, and the calculation method of the ice force is meaningful for the offshore structure design. The cone is now used as an optimal ice-resistant structure because it can cause bending failure of the ice sheet. The interaction between an ice sheet and a conical structure is studied in this paper and Croasdale‘s model is modified based on field observations. The newly built model separates the ice sheet into the emersed part and the floating part, and the equilibrium analyses are canied out respectively. The bending moment distribution of the ice sheet is analyzed for the determination of the position of bending failure, which serves as a supplementary restraint. The analytic solution of the ice foree on a conical structure is obtained it is verified with the experimental data of previous researches.     

畸形波作用下张力腿浮式风力机动力响应特性

针对张力腿系泊浮式风力机的基础运动,忽略柔性构件的影响,建立气动—水动—系泊非线性耦合运动方程。在运动控制方程中包含张力腿系泊系统的非线性回复刚度,桨距角控制以及浮式基础运动对空气动力载荷的影响。在波浪载荷的计算中考虑二阶波浪载荷的作用。采用随机频率相位角调制法生成畸形波波面时历,计算在畸形波作用下张力腿型浮式风力机的动力响应特性。数值模拟结果表明,在畸形波作用下,浮式基础的运动及空气动力性能均受到了显著的影响。其中浮式基础的纵荡和纵摇运动分别受二阶差频与和频波浪力的影响,而垂荡运动的增加则主要是受下沉运动的影响。在畸形波经过的时刻,风力机的功率系数迅速下降,水平方向的风载荷波动先减小,随后其数值急剧下降,而垂直方向的风载荷波动增大。     

滩海桶形基础极限水平承载力研究

桶形基础是90年代初期发展起来的一种新型海洋工程结构，与传统的海洋结构基础型式相比有很多优点。但是，目前尚无计算桶形基础的承载力的规范依据和简单实用的计算方法。文章在分析与研究室内、外模型试验结果的基础上，利用Winkler假定，按空间问题推出了一个形式简单的桶形基础水平极限承载力计算公式，并由试验结果验证了这一公式的合理性。     

Dynamic Analysis of A 5-MW Tripod Offshore Wind Turbine by Considering Fluid–Structure Interaction

Fixed offshore wind turbines usually have large underwater supporting structures.The fluid influences the dynamic characteristics of the structure system.The dynamic model of a 5-MW tripod offshore wind turbine considering the pile–soil system and fluid structure interaction(FSI) is established,and the structural modes in air and in water are obtained by use of ANSYS.By comparing low-order natural frequencies and mode shapes,the influence of sea water on the free vibration characteristics of offshore wind turbine is analyzed.On basis of the above work,seismic responses under excitation by El-Centro waves are calculated by the time-history analysis method.The results reveal that the dynamic responses such as the lateral displacement of the foundation and the section bending moment of the tubular piles increase substantially under the influence of the added-mass and hydrodynamic pressure of sea water.The method and conclusions presented in this paper can provide a theoretical reference for structure design and analysis of offshore wind turbines fixed in deep seawater.     

Dynamic Analysis of A 5-MW Tripod Offshore Wind Turbine by Considering Fluid–Structure Interaction

Fixed offshore wind turbines usually have large underwater supporting structures. The fluid influences the dynamic characteristics of the structure system. The dynamic model of a 5-MW tripod offshore wind turbine considering the pile–soil system and fluid structure interaction (FSI) is established, and the structural modes in air and in water are obtained by use of ANSYS. By comparing low-order natural frequencies and mode shapes, the influence of sea water on the free vibration characteristics of offshore wind turbine is analyzed. On basis of the above work, seismic responses under excitation by El-Centro waves are calculated by the time-history analysis method. The results reveal that the dynamic responses such as the lateral displacement of the foundation and the section bending moment of the tubular piles increase substantially under the influence of the added-mass and hydrodynamic pressure of sea water. The method and conclusions presented in this paper can provide a theoretical reference for structure design and analysis of offshore wind turbines fixed in deep seawater.     

Parameter identification of a compliant nonlinear SDOF system in random ocean waves by reverse MISO method

The determination of the drag and inertia coefficients, which enter into the wave force model given by Morison's equation, is particularly uncertain and difficult when a linear spectral model is used for ocean waves, and the structure is compliant and has nonlinear dynamic response. In this paper, a nonlinear System Identification method, called Reverse Multiple Inputs–Single Output (R–MISO) is applied to identify the hydrodynamic coefficients as well as the nonlinear stiffness parameter for a compliant single-degree-of-freedom system. Four different types of problems have been identified for use in various situations and the R–MISO has been applied to all of them. One of the problems requires iterative solution strategy to identify the parameters. The method has been found to be efficient in predicting the parameters with reasonable accuracy and has the potential for use in the laboratory experiments on compliant nonlinear offshore systems.     

冰激振动下简易平台的动态优化设计

简易平台是边际油田开发的主要结构形式,由于平台结构形式简单,受到动力荷载作用响应比较大。采用动态设计可以合理优化平台结构形式,达到降低平台动力响应的效果。文中以JZ20-2NW简易平台为原型,运用ANSYS有限元分析软件对其进行冰激振动下的动态优化设计。结果表明,动态设计减振效果明显,可供设计人员参考。     

On the identification of ship coupled heave–pitch motions using neural networks

This paper outlines a procedure for the derivation of the differential equations describing the free response of a heaving and pitching ship from its stationary response to random waves. The coupled heave–pitch motion of a ship in random seas is modelled as a multi-dimensional Markov process. The partial differential equation describing the transition probability density function, known as the Fokker-Planck equation, for this process is derived. The Fokker-Planck equation is used to derive the random decrement equations for the coupled heave–pitch motion. The parameters in these equations are then identified using a neural network approach. The method is validated using numerical simulations and experimental results. The experimental data was obtained using an icebreaker ship model heaving and pitching in random waves. It is shown that the method produces good results when the system is lightly damped. An extension for using this method to identify couple heave–pitch motion in realistic seas is suggested.     

海洋平台浮托安装中横荡护舷限位和缓冲性能分析

浮托安装法,是相对于传统吊装法的一种新型海洋平台安装方法,具有起重能力大、作业周期短、安装费用低、适用范围广、操作安全方便等优点,解决了海上大型平台组块的安装问题。为了研究横荡护舷对浮托安装的影响,首先对海洋平台浮托安装中的护舷装置进行了介绍,然后针对某工程实例应用AQWA软件进行了数值模拟,并进行了模型验证。从时域方面对就位状态下的浮托模型进行了耦合动力分析,研究了横荡护舷参数对驳船运动和撞击力的影响规律。研究表明,横荡护舷可以有效地减小驳船运动和撞击力,其限位和缓冲作用与护舷尺寸及护舷刚度均有关。研究结果可为实际浮托安装工程提供重要的参考。     

Study on Gyroscopic Effect of Floating Offshore Wind Turbines

Compared with bottom-fixed wind turbines,the supporting platform of a floating offshore wind turbine has a larger range of motion,so the gyroscopic effects of the system will be more obvious.In this paper,the mathematical analytic expression of the gyroscopic moment of a floating offshore wind turbine is derived firstly.Then,FAST software is utilized to perform a numerical analysis on the model of a spar-type horizontal axis floating offshore wind turbine,OC3-Hywind,so as to verify the correctness of the theoretical analytical formula and take an investigation on the characteristics of gyroscopic effect.It is found that the gyroscopic moment of the horizontal axis floating offshore wind turbine is essentially caused by the vector change of the rotating rotor,which may be due to the pitch or yaw motion of the floating platform or the yawing motion of the nacelle.When the rotor is rotating,the pitch motion of the platform mainly excites the gyroscopic moment in the rotor’s yaw direction,and the yaw motion of the platform largely excites the rotor’s gyroscopic moment in pitch direction,accordingly.The results show that the gyroscopic moment of the FOWT is roughly linearly related to the rotor’s inertia,the rotor speed,and the angular velocity of the platform motion.     

Passive control of offshore jacket platforms

The wave-induced dynamic force is one of the most important excitations to be dealt with in the design of offshore structures. In order to perform a reliable design of an offshore structure, it is important to obtain an exact evaluation of its dynamic response but also to examine the ways of reducing the response. This paper presents the response of offshore jacket platforms installed with energy dissipation devices such as viscoelastic, viscous and friction dampers under wave loading. The offshore jacket platforms are modeled as multi-degrees-of-freedom system provided with dampers at each floor location. The wave forces are modeled as per Morison's equation. The governing equations of motion of the jacket platform with dampers are derived and their solution in the frequency domain is presented. The uni-directional random wave loading is expressed by the Pierson-Muskowitz spectrum. The response of the jacket platform with viscoelastic, viscous and friction dampers is compared with the corresponding response without dampers in order to investigate the effectiveness of the passive control systems. It is observed that the additional dampers add substantial damping to structure and thus favorably control the response of platform structure. Among the various energy dissipation devices used for study, the viscoelastic dampers perform better in comparison to the other dampers. This is due to the fact that the added viscoelastic dampers contribute to increased viscous damping as well as lateral stiffness which reduces the response of the offshore jacket platforms significantly.     

海上风电高桩承台基础关键部位受力特性研究

海上高桩承台基础结构承台部分的设计主要依靠高桩码头和桥梁等其他高桩承台结构的经验，基于在建工程，为解决设计时容易设计出过厚承台和多余配筋的问题，本文采用有限元对包括土体在内的整个风机基础进行精细化数值模拟计算，计算结果与规范算法进行对比，得到承台设计时规范算法的安全余量，同时提出配筋优化方向。结果表明：基于弹性材料模型计算结果，有限元计算结果小于规范算法计算结果，基桩最大压力相差22.43%，最大上拔力相差2.08%，弯矩差别最大为57.89%，最小为18.85%；基于弹塑性材料模型计算结果，钢筋最大应力出现在钢管桩桩头，承台顶层钢筋受力较小，设计时可加强钢管桩桩头配筋，减少承台顶层钢筋数量。     

基于实测数据的海上风电结构动力响应分析

地震是危害海上风电结构作业安全的重要环境因素,目前,国内尚未公开发表真实地震响应下,海上风电结构的实测动力响应数据。分析了某地震活动区海上风电结构的实测地震响应,采用随机子空间识别方法进行风机的模态识别,阐述了风机机舱偏航将引起前后、左右两个正交方向振动的耦合,并从理论上证明了利用耦合、解耦数据识别模态参数的差异。结果表明：1）耦合与解耦信号识别的频率、阻尼比完全相同,而耦合信号识别的模态振型与偏航角有关;2）地震作用会对结构产生巨大冲击;3）非地震作用下,风机塔筒前后、左右第一阶弯曲模态为主要模态,地震作用可以激发风机的高阶模态,使得塔筒中上部而不是顶部的振动响应最大。此分析对地震活动区海上风电结构的抗震设计具有一定的参考价值。     

On the identification of ship coupled heave–pitch motions using neural networks

This paper outlines a procedure for the derivation of the differential equations describing the free response of a heaving and pitching ship from its stationary response to random waves. The coupled heave–pitch motion of a ship in random seas is modelled as a multi-dimensional Markov process. The partial differential equation describing the transition probability density function, known as the Fokker-Planck equation, for this process is derived. The Fokker-Planck equation is used to derive the random decrement equations for the coupled heave–pitch motion. The parameters in these equations are then identified using a neural network approach. The method is validated using numerical simulations and experimental results. The experimental data was obtained using an icebreaker ship model heaving and pitching in random waves. It is shown that the method produces good results when the system is lightly damped. An extension for using this method to identify couple heave–pitch motion in realistic seas is suggested.     

波浪作用下铰接式层合浮体的水弹性响应研究

在工程设计中,通常采用模块化方式制造超大型浮式结构物,将巨大的单体结构分割成多个较小模块,后期通过合适的连接器拼装形成。为了明确多模块超大浮体在波浪作用下的水弹性响应,以两个相邻层合浮体（高刚度面板和低密度芯材）为研究对象,建立波浪作用下铰接层合浮体水弹性响应的高阶势流模型。采用匹配特征函数展开法求解流体运动的速度势,探讨了铰接处弹簧刚度对浮体的反射系数、透射系数、挠度、弯矩和剪力的影响规律。研究结果表明：迎浪侧浮体的存在可以有效降低背浪侧浮体的挠度、弯矩和剪力幅值;与垂直弹簧相比,扭转弹簧刚度的增加可以更加有效抑制铰接层合浮体的水弹性响应;当扭转弹簧刚度大于一定值时,继续增大弹簧刚度对浮体的动力响应不产生影响。     

Hybrid Analysis Approach for Stochastic Response of Offshore Jacket Platforms

The dynamic response of offshore platforms is more serious in hostile sea environment than inshallow sea.In this paper,a hybrid solution combined with analytical and numerical method is proposedto compute the stochastic response of fixed offshore platforms to random waves,considering wave-struc-ture interaction and non-linear drag force.The simulation program includes two steps:the first step is theeigenanalysis aspects associated the structure and the second step is response estimation based on spectralequations.The eigenanalysis could be done through conventional finite element method conveniently andits natural frequency and mode shapes obtained.In the second part of the process,the solution of theoffshore structural response is obtained by iteration of a series of coupled spectral equations.Consideringthe third-order term in the drag force,the evaluation of the three-fold convolution should be demanded fornonlinear stochastic response analysis.To demonstrate this method,a numerical analysis is carrie     

Vibration Control of Multi-Tuned Mass Dampers for An Offshore Oil Platform

The purpose of this study is to investigate the effectiveness of multi-tuned mass dampers (MTMD) on mitigating vi-bration of an offshore oil platform subjected to ocean wave loading. An optimal design method is used to determine the optimal damper parameters under ocean wave loading. The force on the structure is determined by use of the linearized Morison equation. Investigation on the deck motion with and vvithout MTMD on the structure is made under design condi-tions. The results show that MTMD with the optimized parameters suppress the response of each structural mode. The sensitivity of optimum values of MTMD to characteristic wave parameters is also analyzed. it is indicated that a single TMD on the deck of a platform can have the best performance, and the small the damping value of TMD, the betler the vibration control.     

海上桶基平台基础边界条件的简化方法与结构优化

海上桶型基础平台采用桶型基础这一新型的基础型式,桶基平台在结构强度校核计算和结构优化中必须考虑其有限元分析模型的基础边界条件简化问题。本文提出了桶基平台有限元分析模型中的基础边界条件简化方法,将桶型基础边界简化为位移弹簧边界元,给出了弹簧刚度的计算方法。通过模型试验与本文提出方法的计算结果的比较,证明本文提出的方法是正确的。同时,将本文提出的方法应用于桶基火炬平台的结构优化,表明该方法是实际可行的并且对于桶基平台的结构强度校核计算与结构优化有重要意义。对于桶基火炬平台的结构优化采用了适合离散变量优化求解的遗传算法,优化的结果有效地降低了结构重量,降低了工程造价。