基于非线性数学模型的半潜式平台共振运动特性研究

共振运动是深海浮式平台设计的关键考虑因素之一,对海洋平台的作业具有重要影响。采用半潜式平台运动的非线性耦合数学模型,考虑浮筒和横撑出入水以及垂荡、横摇和纵摇运动耦合对平台浮力和恢复力的影响,研究半潜式平台非线性共振运动特性,以及不规则波浪参数对运动的影响。研究表明:在非线性耦合运动和浮力变化的影响下,半潜式平台纵摇和垂荡运动的固有周期会随运动幅值的增大而逐渐减小,且最终趋于稳定,对纵摇运动周期的影响更为显著;非线性效应会使半潜式平台产生显著的低频纵摇共振响应,以及共振频率漂移的现象,且受随机种子和波浪周期的影响较小。     

Spar平台垂荡-纵摇耦合运动失稳机理

研究参数激励和强迫激励共同作用下Spar平台垂荡-纵摇耦合运动的失稳机理.考虑静稳性和排水体积的变化,推导平台的垂荡回复力和纵摇回复力矩表达式,建立规则波浪中平台垂荡-纵摇耦合的运动方程.以经典Spar平台为例,分析平台垂荡-纵摇耦合运动发生马休类型不稳定运动的条件以及平台运动失稳的形式,给出波高和波浪周期平面上平台因大幅运动失稳的参数域.结果表明,当波高相对较小时,波浪的临界周期接近于垂荡固有周期,平台失稳的形式为马休失稳;当波高相对较大时,波浪的临界周期远离垂荡固有周期,平台由于大幅摇摆运动而失稳.     

传统Spar平台和型组合共振运动响应研究

研究传统Spar平台在长周期规则波浪下的和型组合共振现象.考虑垂荡与纵摇运动的相互影响以及瞬时波面对于纵摇运动的参数激励作用,建立平台两自由度耦合运动方程.采用多尺度法导出了当波浪频率接近垂荡与纵摇固有频率之和时方程的一阶摄动解.针对一座实际Spar平台,通过求解幅值分岔方程,得到平台在不同波高下的运动响应并进行了数值模拟.计算结果发现,当波浪幅值超过某一极限值时,平台出现较大幅值的垂荡与纵摇亚谐共振运动.研究结果揭示了Spar平台出现和型组合共振的条件和组合共振时的动力特性.     

基于非线性能量阱的半潜式平台垂荡响应抑制研究

半潜式平台由于吃水浅、水线面小导致垂荡响应较大,为采油树的选择以及钻井、采油等作业带来了许多制约因素,增加维护和作业成本。针对这一问题,本文提出了一种带有非线性能量阱(Nonlinear energy sink, NES)的半潜式平台结构。根据NES减振原理,将活动式垂荡板作为NES系统的具体结构,通过建立带有NES系统的半潜式平台动力学模型,以减小平台垂荡响应为目标,优化设计了NES系统参数。考虑海况变化问题,对NES系统和调谐质量阻尼器(Tuned mass damper, TMD)系统的垂荡响应抑制性能、系统能量传递进行了对比分析。结果表明：NES系统对半潜式平台的垂荡响应具有明显抑制效果,NES系统的共振俘获现象可以使平台与其发生靶能量传递(Targeted energy transfer, TET),同TMD系统相比,NES系统对不同海况波浪谱峰周期变化的鲁棒性更强。     

半潜式平台垂向运动低频响应特性

对半潜式平台垂向运动性能(包括垂荡、横摇和纵摇)进行数值计算分析。与模型试验结果的比较表明,对于半潜式平台这类由柱体组成的结构物进行水动力数值预报,忽略粘性力作用会使得低频运动响应计算结果产生偏差,需要应用三维势流理论和Morison公式相结合的方法。横摇和纵摇运动固有频率均低于波浪频率,在波浪慢漂力作用下会出现显著低频运动响应。垂荡运动是否出现低频响应则与所处海况联系紧密。     

深吃水多立柱平台稳性与水动力分析

在深水平台的设计与分析中,调整某一结构参数提高某一性能的同时,常常受到其他功能或性能上的约束,因此引起了平台各项功能及性能之间的相互竞争。以一种创新的深吃水多立柱平台(Deep Draft Multi-Spar)为目标,探讨平台结构特征参数如立柱直径、立柱高度、立柱间距和压载舱位置与平台稳定性能、水动力及运动性能、结构要求和功能要求之间的关系。水动力分析和响应计算结果显示,随着DDMS平台吃水深度的降低,垂荡、纵摇和纵荡RAOs均逐渐增大,运动性能降低,并与典型的Spar和半潜平台的RAOs进行了比较。     

台风海况下半潜式钻井平台动力性能监测与分析

半潜式钻井平台在海洋油气资源开发中发挥着重要作用,目前主要采用模型试验和数值模拟方法对其动力性能进行研究,非常缺乏台风等极端海况下半潜式平台动力响应的实海域监测数据。以某半潜式钻井平台为研究对象,构建了一套比较完善的平台动力性能监测系统,并对台风“杜苏芮”过境阶段的监测数据进行了分析。根据平台艏部气隙及运动监测数据推算了平台吃水及环境波高;采用随机波浪的统计分析方法,计算得到短期海况的有效波高、谱峰周期、能量谱等信息,通过与多种典型海浪谱对比发现Jonswap谱与所测波谱吻合较好;对平台的横摇、纵摇及垂荡运动进行了时域统计分析和频域谱分析,得到了台风海况下被测平台波频运动的实际响应特征,对于指导平台抗台作业具有重要意义。     

圆筒形FWPSO水动力性能模型试验研究

针对一圆筒形FWPSO设计概念开展水动力性能模型试验研究,研究发现圆筒形FWPSO纵摇运动受二阶波浪力作用明显,存在显著的低频运动;同时由于垂荡固有周期与波浪周期接近,该平台在大的波浪环境中出现较大幅度的垂荡运动而在小的波浪环境下纵摇和垂荡运动性能优良。该问题应当引起设计者足够的重视。     

新型圆筒型FPSO垂荡抑制结构优化设计

针对传统圆筒型FPSO垂荡运动剧烈的特点,提出一种带有垂荡抑制结构的圆筒型FPSO。采用1∶77.8的缩尺比制作模型,进行垂荡纵摇衰减试验,得到带有不同垂荡抑制结构模型的固有周期和无因次阻尼系数,进而选取最优的垂荡抑制结构型式。之后计算并对比传统圆筒型FPSO和新型圆筒型FPSO垂荡纵摇运动的固有周期和幅频响应函数。在此基础上,结合我国南海海洋环境条件,设计新型圆筒型FPSO的系泊系统,计算分析自存工况下的耦合动力响应,并与传统圆筒型FPSO进行对比。结果表明,文中提出的垂荡抑制结构可以有效增大系统垂荡纵摇运动的固有周期,改善运动性能,提高系泊的安全性。     

波流组合作用下SPAR平台垂荡-纵摇耦合运动研究

探讨SPAR平台在波流组合作用下的运动响应机理。运用Matlab程序分析了SPAR平台产生内共振的运动过程,运用刚体动力学理论建立了平台垂荡-纵摇耦合方程,对波流共同作用下Spar平台的垂荡、纵摇运动进行数值模拟,结果表明:流的加入对于内共振的影响并不明显;同时采用AQWA软件研究了流的加入对于纵荡二阶慢漂力的影响,研究发现,当波流同向时能大大增加Spar平台的纵荡运动,而波流反向时却能明显削弱纵荡运动。本文研究成果对于指导深海浮式结构设计开发具有一定的理论借鉴作用。     

Parametric Resonance Analyses for Spar Platform in Irregular Waves

The parametric instability of a spar platform in irregular waves is analyzed. Parametric resonance is a phenomenon that may occur when a mechanical system parameter varies over time. When it occurs, a spar platform will have excessive pitch motion and may capsize. Therefore, avoiding parametric resonance is an important design requirement. The traditional methodology includes only a prediction of the Mathieu stability with harmonic excitation in regular waves. However, real sea conditions are irregular, and it has been observed that parametric resonance also occurs in non-harmonic excitations. Thus, it is imperative to predict the parametric resonance of a spar platform in irregular waves. A Hill equation is derived in this work, which can be used to analyze the parametric resonance under multi-frequency excitations. The derived Hill equation for predicting the instability of a spar can include non-harmonic excitation and random phases. The stability charts for multi-frequency excitation in irregular waves are given and compared with that for single frequency excitation in regular waves. Simulations of the pitch dynamic responses are carried out to check the stability. Three-dimensional stability charts with various damping coefficients for irregular waves are also investigated. The results show that the stability property in irregular waves has notable differences compared with that in case of regular waves. In addition, using the Hill equation to obtain the stability chart is an effective method to predict the parametric instability of spar platforms. Moreover, some suggestions for designing spar platforms to avoid parametric resonance are presented, such as increasing the damping coefficient, using an appropriate RAO and increasing the metacentric height.     

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.     

Internal Resonances for Heave,Roll and Pitch Modes of A Spar Platform Considering Wave and Vortex-Induced Loads in the Main Roll Resonance

We present a study of the nonlinear coupling internal resonance for the heave roll and pitch performance of a spar platform under the wave and vortex-induced loads when the ratio of the frequencies of heave, roll and pitch are approximately 2:1:1. In consideration of varying wet surface, the three DOFs nonlinear coupled equations are established for the spar platform under the effect of the first-order wave loads in the heave and pitch, and vortexinduced loads in the roll. By utilizing the method of multi-scales when the vortex-induced frequency is close to the natural roll frequency, the first-order perturbation solution is obtained analytically and further validated by the numerical integration. Sensitivity analysis is performed to understand the influence of the damping and the internal detuning parameter. Two cases with internal resonance are shown. The first case is that no saturation phenomenon exists under small vortex-induced loads. The first order perturbation solution illustrates that only the vortex-induced frequency motion in roll and the super-harmonic frequency motion in heave are excited. The second case is that the vortex-induced loads are large enough to excite the pitch and a saturation phenomenon in the heave mode follows.The results show that there is no steady response occurrence for some cases. For these cases chaos occurs and large amplitudes response can be induced by the vortex-induced excitation.     

Internal Resonances for Heave, Roll and Pitch Modes of A Spar Platform Considering Wave and Vortex-Induced Loads in the Main Roll Resonance

We present a study of the nonlinear coupling internal resonance for the heave roll and pitch performance of a spar platform under the wave and vortex-induced loads when the ratio of the frequencies of heave, roll and pitch are approximately 2:1:1. In consideration of varying wet surface, the three DOFs nonlinear coupled equations are established for the spar platform under the effect of the first-order wave loads in the heave and pitch, and vortex-induced loads in the roll. By utilizing the method of multi-scales when the vortex-induced frequency is close to the natural roll frequency, the first-order perturbation solution is obtained analytically and further validated by the numerical integration. Sensitivity analysis is performed to understand the influence of the damping and the internal detuning parameter. Two cases with internal resonance are shown. The first case is that no saturation phenomenon exists under small vortex-induced loads. The first order perturbation solution illustrates that only the vortex-induced frequency motion in roll and the super-harmonic frequency motion in heave are excited. The second case is that the vortex-induced loads are large enough to excite the pitch and a saturation phenomenon in the heave mode follows. The results show that there is no steady response occurrence for some cases. For these cases chaos occurs and large amplitudes response can be induced by the vortex-induced excitation.     

On the parametric rolling of ships using a numerical simulation method

This paper has shown a numerical motion simulation method which can be employed to study on parametric rolling of ships in a seaway. The method takes account of the main nonlinear terms in the rolling equation which stabilize parametric rolling, including the nonlinear shape of the righting arm curve, nonlinear damping and cross coupling among all 6 degrees of freedom. For the heave, pitch, sway and yaw motions, the method uses response amplitude operators determined by means of the strip method, whereas the roll and surge motions of the ship are simulated, using nonlinear motion equations coupled with the other 4 degrees of freedom. For computing righting arms in seaways, Grim's effective wave concept is used. Using these transfer functions of effective wave together with the heave and pitch transfer functions, the mean ship immersion, its trim and the effective regular wave height are computed for every time step during the simulation. The righting arm is interpolated from tables, computed before starting the simulation, depending on these three quantities and the heel angle. The nonlinear damping moment and the effect of bilge keels are also taken into account. The numerical simulation tool has shown to be able to model the basic mechanism of parametric rolling motions. Some main characteristics of parametric rolling of ships in a seaway can be good reproduced by means of the method. Comprehensive parametric analyses on parametric rolling amplitude in regular waves have been carried out, with that the complicated parametric rolling phenomena can be understood better.     

含月池和输运管的深海采矿船水动力特性研究

深海采矿船是未来人类获取深海矿产资源的重要装备,研究其水动力特性具有重要意义。月池和输运管是影响深海采矿船水动力特性的重要因素。以世界上第一艘超深水采矿船“鹦鹉螺新纪元”号为研究对象,基于三维势流理论,分析月池尺寸、输运管长度及内径对采矿船水运动特性的影响。结果表明：月池开口会使采矿船垂荡、纵荡和纵摇运动出现共振峰,峰值随着开口尺寸的增加而增大,其中垂荡运动峰值可增加将近2倍;输运管的存在会明显改变采矿船横摇运动固有周期,增大垂荡运动峰值,降低横摇运动峰值,对横荡和纵荡运动的影响亦较大,当输运管长度为 5 000 m,内径为0.480 5 m时,横荡和纵荡响应峰值能够达到无输运管时的3倍以上。通过探究月池开孔和输运管不同参数对采矿船运动的影响,为深海采矿船月池和输运管设计提供一定的借鉴和参考。     

垂荡板对浮式风机水动—气动耦合性能影响研究

随着风电产业向深远海发展,浮式风机已经成为海上风机未来的发展趋势.由于复杂的风浪联合环境载荷作用,浮式风机作业时通常会产生大幅度的运动响应,这一方面会使得浮式风机系统受到的水动力载荷更加复杂,另一方面会影响浮式风机的输出功率.因此,如何有效地抑制浮式风机系统的运动响应就成为了设计的关键.基于非稳态致动线模型和两相流求解器naoeFOAM-SJTU,进行了带垂荡板的浮式风机耦合性能研究.首先在OC3-Hywind Spar平台上附加垂荡板,并结合NREL-5 MW风力机建立带垂荡板的浮式风机模型.其次对比不同形状的垂荡板对Spar-5 MW型浮式风机气动—水动耦合结果,分析相同风浪联合作用条件下垂荡板形状对浮式风机耦合响应的影响.研究结果表明:垂荡板能够减小纵荡和垂荡等运动响应幅值,但是对纵摇运动响应影响较小;当垂荡板直径和吃水位置相同时,相同风浪条件下圆形垂荡板能使浮式风机的气动平均功率增大约0.844％,而正方形垂荡板却使平均功率减小1.492％,这说明圆形垂荡板对浮式风机系统的作用效果整体而言优于正方形.