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。     

Analysis on Motion and Cable Dynamic Tension for An ALT-Tanker System

A two-degree freedom model for an ALT-tanker system is established corresponding to the pitch of the ALT and the surge of the tanker.Tension in the mooring cable between the ALT and the tanker is represented by an unsymmetrical,piecewise-nonlinear function.Wave load on the tower is evaluated by use of the Morison equation.The first order wave load acting on the tanker is calculated by the linear diffraction theory based on the 2-D Helmholtz equation,and the near field approach of Pinkster is used to evaluate the second order drift force.The dynamic equation of motion is established based on the principle of D'lembert.Dynamic response and cable tension of a mooring system composed of an 88.4 m ALT and a 100000 t grade tanker are calculated.The influence of wave frequency,wave excitation amplitude,wind and current force on ALT-tanker motion and cable tension is discussed.     

Forced vibration analysis of an offshore tower carrying an eccentric tip mass with rotary inertia due to support excitation

Dynamic responses of structures due to earthquake excitation are the important problems in engineering, thus, the information concerned is plenty. However, most of the literature is relating to the discrete methods, particularly to the finite element method (FEM), and the one relating to the method combining both the “continuous” and “discrete” models is rare. The objective of this paper is to provide some information in this respect. First, the analytical solution for the natural frequencies and normal mode shapes of a “continuous” tower, without contacting water (or “dry” tower), carrying an eccentric tip mass possessing rotary inertia is determined. Next, the partial differential equation of motion for the forced vibration of the tower, contacting water (or “wet” tower), subjected to support excitation is transformed into a matrix equation by using the last natural frequencies and normal modes shape of the freely vibrating dry tower. Finally, the numerical integration method is used to solve the matrix equation to yield the seismic response of the wet tower. In theory, the mode superposition method is correct only if the total number of modes considered approaches infinity, however, numerical results of this paper reveal that superposition of only the lowest six modes will yield excellent results to be very close to the corresponding ones obtained from the conventional FEM. For this reason, the CPU time required by the presented approach is less than 5% of that required by the conventional FEM.     

基于动态耦合的FPSO串靠外输所需拖力快速预报

以极浅水作业水深的FPSO串靠外输作业为背景,研究穿梭油轮尾部定位拖轮所需拖力大小,提出了基于动态耦合效应的拖轮拖力直接计算方法。基于三维势流理论,考虑浮式生产储油平台(FPSO)与穿梭油轮之间相互水动力干扰,进行动态耦合计算,根据力学平衡原理求得所需的拖轮拖力并分析其影响因素。结果表明:动态耦合模型算出的所需拖力值较之准动态模型更安全、经济;当FPSO与穿梭油轮距离为80 m时,既能保证外输安全性又能保证经济性;增大两船间距、增加穿梭油轮吃水、两船间采用双缆系泊,均能有效降低所需的拖轮拖力。研究结果可为FPSO串靠外输作业操作提供指导,具有一定的工程实用性。     

Review of flexible risers and articulated storage systems

The anchorage system for mid-ocean loading or production consists of an articulated tower for mooring the tanker. Flexible risers are also essential components of the anchorage system. The present paper provides a state-of-the-art review on articulated storage systems and flexible risers, giving theoretical background for the development of computer software for the static analysis of flexible risers.In the state-of-the-art review for flexible risers, various analysis techniques for elastic lines and flexible risers under self-weight, current and wave forces are presented. The dynamic response of the flexible riser, including vortex-induced oscillations, is also outlined.The literature concerning the articulated tower and tanker is relatively scarce. Available works related only to dynamic responses of articulated towers. The combined response of tower and tanker is only studied by Chakrabarti and Cotter [(1978), Analysis of a tower-tanker system. In Proceedings of the 10th Offshore Technology Conference, OTC 3202, pp. 1301–1310] in a limited sense. The review of these works is summarised relevant to this paper.In the end, the static analysis of the flexible riser under its self-weight and current is presented using a finite difference approach. The problem essentially involves geometrical non-linearity, which is tackled with the help of an iterative solution based on modified Newton-Raphson technique. The theoretical formulation presented is being used to develop the computer software for the static analysis of the flexible risers.     

Identification of hydrodynamic coefficients in ship maneuvering equations of motion by Estimation-Before-Modeling technique

Estimation-Before-Modeling (EBM) technique (or the two-step method) is a system identification method that estimates parameters in a dynamic model. Given sea trial data, the extended Kalman filter and modified Bryson–Frazier smoother can be used to estimate motion variables, hydrodynamic force, and the speed and the direction of current. And using these estimated data, we can use the ridge regression method to estimate the hydrodynamic coefficients in a model. An identifiable state space model is constructed in case that current effect is included and the maneuvering characteristics of a ship are analyzed by correlation analysis. To better identify hydrodynamic coefficients, we suggest the sub-optimal input scenario that considers the D-optimal criterion. Finally, the algorithm is confirmed against real sea trial data of 113K tanker.     

Large motion analysis of compliant structures using euler parameters

The large motions that a compliant offshore structure experiences were analysed using Euler parameters. Firstly, the equations of motion of a rigid body undergoing large translations and rotations were obtained using the Lagrangian formulation. Secondly, the hydrodynamic forces acting on the structure were calculated using the modified Morison's equation. A tension-leg platform (TLP) subjected to an oblique incident wave was then analysed using the above formulation. This was followed by an analysis of an articulated tower for comparison with the results of other researchers. An example showing the tower undergoing subharmonic oscillations was also included.     

基于风洞试验的FPSO风载荷特性研究

当FPSO服役于目标油田时,将受到风浪流的作用力。其中,风力给FPSO一个恒定的静力,使其偏离原来的位置。风力计算在FPSO系泊系统的分析过程中是非常重要的。设计人员常常参考OCIMF进行风力计算,或者参考API规范得出。OCIMF为针对油轮的计算规范,但使用OCIMF计算FPSO风力及流力的方法,与FPSO的适应性仍需要进一步论证。API规范针对海上浮式系统,其计算风流力的方法使用也非常广泛,其原理为将FPSO上部各个模块风力叠加得出。以FPSO风载荷为研究对象,开展了风洞模型试验,获得了典型FPSO风载荷特性曲线,并将试验结果分别与OCIMF结果和API规范计算结果进行对比分析,最终给出FPSO风力计算方法的建议。本数据可用于FPSO的风力计算,也可为FPSO运动、系泊的设计研究提供参考。     

考虑弹性变形铰接塔平台非线性动力响应

研究计入弹性变形铰接塔平台在深水中的非线性动力响应。将铰接塔平台简化为顶部具有集中质量,底部具有扭转线性弹簧约束的均匀弹性梁,考虑波浪对平台的作用,应用莫里森(Morison)公式计算铰接塔平台瞬时位置所受水动力,建立了铰接塔平台横向运动的偏微分方程,采用伽辽金方法计算波浪作用下铰接塔平台非线性动力响应。计算了铰接塔平台的固有频率和模态,得到了铰接塔平台不同频率波浪激励下各阶模态的动力响应。计算结果表明,在波浪激励下系统二阶模态将发生2、34、倍超谐共振运动,并且揭示了弹性铰接塔平台在波浪作用下振动的不对称性。     

Hydrodynamic coefficients of a harmonically oscillated tower

A tower hinged at the bottom was oscillated mechanically in a sinusoidal fashion in a plane in still water. An instrumented section in the tower measured the inline and transverse forces locally on the tower due to the hydrodynamic effects. These forces are analyzed for the added mass, drag and lift coefficients which are presented as functions of Keulegan-Carpenter and Reynolds number. The lift force frequencies are also investigated. The measured overall reactions on the tower are used to verify the values of the local coefficients. The results presented here are not only applicable to articulated towers but to other moving elements of an offshore structure, e.g. risers, tension-legs, etc.     

深水铰接塔平台动力响应分析

将深水铰接塔平台顶部工作单元简化为集中质量,塔柱和浮力仓简化为均匀直杆,建立了铰接塔平台运动分析模型。考虑海流和波浪对平台的作用,应用Morison公式计算铰接塔平台瞬时位置所受水动力,依据拉格朗日原理建立了铰接塔平台的强非线性时变系数两自由度运动控制方程。文中工作为深水铰接塔平台动力响应分析奠定了基础。     

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.     

Path following control system for a tanker ship model

A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes.     

A finite volume discretization of the pressure gradient force using analytic integration

Layered ocean models can exhibit spurious thermobaric instability if the compressibility of sea water is not treated accurately enough. We find that previous solutions to this problem are inadequate for simulations of a changing climate. We propose a new discretization of the pressure gradient acceleration using the finite volume method. In this method, the pressure gradient acceleration is exhibited as the difference of the integral “contact” pressure acting on the edges of a finite volume. This integral “contact” pressure can be calculated analytically by choosing a tractable equation of state. The result is a discretization that has zero truncation error for an isothermal and isohaline layer and does not exhibit the spurious thermobaric instability.     

基于准动态模型的提油作业拖轮适用性分析

目前,由于串靠外输方式具有对船舶吨位差异及装载状况要求小、海况适应力强、系泊力小、解脱迅速等优点,而被广泛运用于浮式生产储卸油平台(FPSO)外输作业中。串靠提油作业时,位于穿梭油轮尾部的拖轮能够提供的最大有效拖力直接影响到了作业的安全性。为完善串靠提油作业时所需拖轮拖力的研究,提出更加合理的拖轮选型理论依据,就需要对拖力进行数值计算。首先,对FPSO与穿梭油轮串靠外输系统绕系泊单点旋转时所受风、浪、流等环境载荷进行全面考虑,建立了准动态受力平衡模型;然后,运用经验公式及AQWA软件计算出环境载荷大小,并依据计算结果拟合出环境载荷曲线;最后,配合受力平衡方程求解出能够保障作业安全进行所需的最小拖力。依照此方法计算所得拖力选取的拖轮能够兼顾作业安全性和使用经济性。     

Performance of pile-restrained flexible floating breakwaters

The overall performance of pile-restrained flexible floating breakwaters is investigated under the action of linear monochromatic incident waves in the frequency domain. The aforementioned floating breakwaters undergo only vertical structural deflections along their length and are held in place by means of vertical piles. The total number of degrees of freedom equals the six conventional body modes, when the breakwater moves as a rigid body, plus the extra bending modes. These bending modes are introduced to represent the structural deflections of the floating breakwater and are described by the Bernoulli–Euler flexible beam equation. The number of bending modes introduced is determined through an appropriate iterative procedure. The hydrostatic coefficients corresponding to the bending modes are also derived. The numerical analysis of the flexible floating breakwaters is based on a three-dimensional hydrodynamic formulation of the floating body. A parametric study is carried out for a wide range of structural stiffness parameters and wave headings, to investigate their effect on the performance of flexible floating breakwaters. Moreover, this performance is compared with that of the corresponding pile-restrained rigid floating breakwater. Results indicated that the degree of structural stiffness and the wave heading strongly affect the performance of flexible floating breakwaters. The existence of an “optimum” value of structural stiffness is demonstrated for the entire wave frequency range.     

Study on the dynamic characteristic of a U-type tuned liquid damper

By means of Lagrange's equation, the “coupled” equations of motion for a horizontal plate carrying a U-type tuned liquid damper (TLD) are derived. The “uncoupled” equations of motion for the liquid (in the TLD) and the structural system are then obtained by decoupling the “coupled” ones. Unlike the existing literature to indirectly determine the natural frequencies of a damped vibrating system by using the resonant method, the “complex” eigenvalues of the coupled damped system are obtained directly from the associated eigenvalue equations. Besides, the pressure intensities in the two air chambers and the sizes of the two vertical tanks together with the horizontal conduit are arbitrary in the formulation of this paper. The influence of some key parameters of the TLD on the dynamic responses of the structural system is studied.     

Hull component interaction and scaling for TLP hydrodynamic coefficients

The purpose of this paper is to validate a new method that can be used by offshore platform designers to estimate the added mass and hydrodynamic damping coefficients of potential Tension Leg Platform hull configurations. These coefficients are critical to the determination of the platform response particularly to high frequency motions in heave caused by sum-frequency wave forcing i.e. “springing”. Previous research has developed the means by which offshore platform designers can extrapolate anticipated full-scale hydrodynamic coefficients based on the response of individual model scale component shapes. The work presented here further evaluates the component scaling laws for a single vertical cylinder and quantifies the effects due to hydrodynamic interaction. Hydrodynamic interaction effects are established through a direct comparison between the superposition of individual hull component coefficients and those evaluated directly from complete hull configuration models. The basis of this comparison is established by the experimental evaluation of the hydrodynamic coefficients for individual hull components as well as partial and complete platform models. The results indicate that hydrodynamic interaction effects between components are small in heave, and validate component scaling and superposition as an effective means for added mass and damping coefficient estimation of prototype platforms. It is found that the dependency of damping ratio with KC for a TLP is almost identical to that of a single column, thus offering a scaling methodology for prototype damping ratio values.     

Dynamic factor analysis considering elastic boom effects in heavy lifting operations

The dynamic factor is the ratio of the maximum dynamic load to the static load acting on the wire ropes between the boom of a floating crane and a cargo. In this paper, the dynamic factor is analyzed based on dynamic simulations of a floating crane and a cargo, considering an elastic boom. For the simulation, we designed a multibody system that consists of a floating crane barge, an elastic boom, and a cargo connected to the boom through wire ropes. The dynamic equations of motion of the system are based on flexible multibody system dynamics. Six-degree-of-freedom motions are considered for the floating crane and for the cargo, and three-dimensional deformations for the elastic boom. The hydrostatic force, the hydrodynamic force, the gravitational force, and the wire rope forces are considered as external forces. The dynamic factor is obtained by numerically solving the equation. The effects of the elastic boom on heavy cargo lifting are discussed by comparing the simulation results of an elastic boom and a rigid boom.     

Planing and impacting plate forces at large trim angles

Added mass theory has been shown to give excellent agreement with experimental measurements on planing surfaces at normal planing angles [e.g. Payne, P.R. (1982, Ocean Engng9, 515–545; 1988, Design of High-Speed Boats, Volume 1: Planning. Fishergate. Inc., Annapolis, Maryland)] and to agree exactly with more complex conformal transformations where such a comparison is possible. But at large trim angles, it predicts non-transient pressures that are greater than the free-stream dynamic pressure and so cannot be correct. In this paper, I suggest that the reason is because, unlike a body or a wing in an infinite fluid, a planing plate only has fluid on one side—the “high pressure” side. So the fluid in contact with the plate travels more slowly as the plate trim angle (and therefore static pressure) increases. This results in lower added mass forces than Munk, M. (1924) The Aerodynamic Forces on Airship Hulls (NACA TR-184) and Jones, R. T. (1946) Properties of Low-Aspect-Ratio Pointed Wings at Speeds Below and Above the Speed of Sound (NACA TR-835) originally calculated for wings and other bodies in an infinite fluid.For simplicity of presentation, I have initially considered the example of a triangular (vertex forward) planning plate. This makes the integration of elemental force very simple and so the various points are made without much trouble. But the penalty is that there seem to be no experimental data for such a configuration; at least none that I have been able to discover. But at least the equations obtained in the limits of zero and infinite aspect ratio, small trim angles (τ) and τ = 90° all agree with established concepts and the variation of normal force with trim angle looks like what we would expect from our knowledge of how delta wings behave in air.I then employed the new equation to calculate the force on a rectangular planing surface at a trim angle τ, having a constant horizontal velocity u_o and a vertical impact velocity of ż. This happens to have been explored experimentally by Smiley, R. F. [(1951) An Experimental Study of Water Pressure-Distributions During Landings and Planing of a Heavily Loaded Rectangular Flat Plate Model (NACA TM 2453)] up to trim angles of τ = 45°, and so a comparison between theory and experiment is possible. The results of this comparison are encouraging, as is also a comparison with the large trim angle planing plate measurements of Shuford, C. L. [(1958) A Theoretical and Experimental Study of Planing Surfaces Including Effects of Cross Section and Plan Form (NACA Report)].As two practical applications, I first employed the new equations to calculate the “design pressures” needed to size the plating of a transom bow on a high-speed “Wavestrider” hull. The resulting pressures were significantly different to those obtained using semi-empirical design rules in the literature. Then I used the theory to critically review data obtained from tank tests of a SES bow section during water impact to identify how the “real world” of resilient deck plating diverged from the “model world” of extreme structural rigidity.