Parameters influence on maneuvered towed cable system dynamics

The dynamic response of a towed cable system to ship maneuver is parametrically simulated. Three dimensionless parameters influence on towed cable system maneuverability is investigated. They are ratio of total length to turning radius R/L, ratio of cable mass to vehicle mass σ, and ratio of mass unit length to hydrodynamic force w/r. An oscillatory motion of towed vehicle is found in simulation of spiral towed courses. Features of this oscillation in different spiral courses are compared. The sharp turns, gradual turns and their transient states of towed cable dynamics for different course directions are discussed extensively. According to the characters of transient states and horizontal trajectories evolution of maneuvered cable system, the dynamic behaviors can be divided into three situations in Fig. 8 turning maneuvers. The behavior of towed cable system during a zigzag turning course is simulated in the end. Two ingredients of heave motion are found during small ratio of turning radii to length in this course. The primary damp to initial turning becomes weak and the response to alternative turns plays a more and more important role. The damping properties of the transient behavior in different maneuvers show a periodical invariance to σ during some turning maneuvers.     

Nonlinear dynamics of an elastic cable during laying operations in rough sea

A numerical approach for predicting motion and tension of extensible marine cables during laying operations in a rough sea is presented here. The solution methodology consists of dividing the cable into straight elements, which must satisfy an equilibrium equation and compatibility relations. The system of nonlinear differential equations is solved by the Runge–Kutta method, taking the effect of regular and/or irregular waves into account explicitly.

Illustrative applications of the method are given for a typical cable laying ship. The results are presented as rms values of the cable dynamic tension and corresponding dynamic factor for two different types of cable and several values of cable stiffness. The effect of axial deformation on the maximum tension at the shipboard pulley location is highlighted.     

拖曳系统拖曳动态过程仿真分析

对于海洋缆索系统,论文针对传统有限段法的不足,提出改进的缆索有限段法,缆索离散为若干弹性缆段组成的多柔体系统,根据缆索的特点选择适当的参考系和广义速率,引入有限元法中的形函数描述段内各点位移,根据Kane方程推导改进缆索有限段模型的运动方程。基于改进的缆索有限段法,提出了模拟拖曳缆索释放一回收过程的变拓扑结构模型,即用可变长度缆段长度的变化和缆段数量的改变建模缆索的释放和回收过程。文中对一海洋拖曳系统进行了动力学仿真,与海洋试验结果比较验证了模型的正确性。     

垂荡式波浪能装置运动模型数值分析

垂荡式波浪能装置在海洋可再生能源开发中被广泛应用,通过浮子与摇杆在垂荡方向的相对运动吸收波浪能。在以往相关的运动预报数值分析中,通常基于微幅波假设,仅考虑浮子与摇杆在垂荡方向的运动,忽略摇杆其他自由度运动。建立并求解了垂荡式波浪能装置的非线性联合运动方程组,分析垂荡式波浪能装置的波浪载荷、浮子与平台连接处的受力情况。数值计算系统的运动响应,并将计算结果与已有的试验数据进行比较验证,结果表明数值模拟的垂荡式波能装置的运动响应与试验结果相符合。最后,应用本计算方法分析PTO(power take-off)参数对波能装置发电性能的影响。     

Time-domain numerical simulation of ocean cable structures

This paper describes the numerical features of WHOI Cable, a computer program for analyzing the statics and dynamics of oceanographic cable structures. The governing equations include the effects of geometric and material nonlinearities, bending stiffness for seamless modeling of slack cables, and a model for the interaction of cable segments with the sea floor. The program uses the generalized-α time integration algorithm, adaptive time stepping, and adaptive spatial gridding to produce accurate, stable solutions for dynamic problems. The nonlinear solver uses adaptive relaxation to improve robustness for both static and dynamic problems. The program solves surface and subsurface single-point mooring problems, multi-leg and branched array systems, and towing and drifting problems. User specified forcing can include waves, currents, wind, and ship speed.     

Analysis of loads,motions and cavity dynamics during freefall wedges vertically entering the water surface

In this paper, theoretical models are developed and numerical methods are used to analyze the loads, motions and cavity dynamics for freefall wedges with different deadrise angles vertically entering the water surface at Froude numbers: 1 ≤ Fn < 9. The time evolutions of the penetration depth, the velocity and the acceleration are analyzed and expressed explicitly. The maximum and average accelerations are predicted. The theoretical results are compared with numerical data obtained through a single-fluid BEM model with globally satisfactory agreement. The evolution of the pressures on the impact side is investigated. Before flow separation, gravity and the acceleration of the wedge have negligible influence on the pressure on the impact side for large Froude numbers or small deadrise angles; with increasing the deadrise angle or decreasing Froude number, the effects of gravity and the acceleration of the wedge tend to become more important. Global loads, with the main emphasis on the drag coefficient, are also studied. It is found that for the light wedge, the transient drag coefficient has slow variation in the first half of the collapse stage and rapid variation in the last half of the collapse stage. For the heavy wedge, the transient drag coefficients vary slowly during the whole collapse stage and can be treated as constant. The characteristics of the transient cavity during its formation are investigated. The non-dimensional pinch-off time, pinch-off depth and submergence depth at pinch-off scale roughly linearly as the Froude number.     

深海垂直吊放缆索系统固有频率和母船临界运动幅值快速计算方法

探索一种可描述缆索系统垂向吊放动力学行为的解析模型.给出它的自封闭方程、固有频率和简谐运动表达式,确定了母船和中际站之间的运动和张力传递函数,模拟结果能很好地符合实验估计值.导出沿着缆索的张力表达式,可用来预测缆索松驰和突变载荷的发生.     

Transient behavior of towed cable systems during ship turning maneuvers

The dynamic behavior of a towed cable system that results from the tow ship changing course from a straight-tow trajectory to one involving steady circular turning at a constant radius is examined. For large-radius ship turns, the vehicle trajectory and vehicle depth assumed, monotonically and exponentially, the large-radius steady-state turning solution of Chapman [Chapman, D.A., 1984. The towed cable behavior during ship turning manoeuvers. Ocean Engineering 11, 327–361]. For small-radius ship turns, the vehicle trajectory initially followed a corkscrew pattern with the vehicle depth oscillating about and eventually decaying to the steady-state turning solution of Chapman (1984). The change between monotonic and oscillatory behavior in the time history of the vehicle depth was well defined and offered an alternate measure to Chapman's (1984) critical radius for the transition point between large-radius and small-radius behavior. For steady circular turning in the presence of current, there was no longer a steady-state turning solution. Instead, the vehicle depth oscillated with amplitude that was a function of the ship-turning radius and the ship speed. The dynamics of a single 360° turn and a 180° U-turn are discussed in terms of the transients of the steady turning maneuver. For a single 360° large-radius ship turn, the behavior was marked by the vehicle dropping to the steady-state turning depth predicted by Chapman (1984) and then rising back to the initial, straight-tow equilibrium depth once the turn was completed. For small ship-turning radius, the vehicle dropped to a depth corresponding to the first trough of the oscillatory time series of the steady turning maneuver before returning to the straight-tow equilibrium depth once the turn was completed. For some ship-turning radii, this resulted in a maximum vehicle depth that was greater than the steady-state turning depth. For a 180° turn and ship-turning radius less than the length of the tow cable, the vehicle never reached the steady-state turning depth.     

Estimation of ship motions using closed-form expressions

A semi-analytical approach is used to derive frequency response functions for the wave-induced motions for monohull ships. The results are given as closed-form expressions and the required input information for the procedure is restricted to the main dimensions: length, breadth, draught, block coefficient and water plane area together with speed and heading. The formulas make it simple to obtain quick estimates of the wave-induced motions and accelerations in the conceptual design phase and to perform a sensitivity study of the variation with main dimensions and operational profile.     

A wavelet for predicting the time-domain response of vertically tethered systems

The response wavelets for tether tension and the displacement of a package on the end of a tether are derived from a linear, frequency-domain model of vertically tethered systems using inverse fourier transform techniques. These wavelets are convolved with a record of ship displacement to predict the instantaneous tension and displacement to an accuracy of better than 20% for a typical system. Although snap loads are non-linear and the response cannot be calculated while the tether is slack, the onset of zero tension — a precursor to snap loads — is predicted by the wavelet. Thus, extreme and potentially hazardous conditions are foreseeable with the wavelet and this information can be used in real-time to guide operations at sea.     

北太平洋夏季热带海区大气运动的平衡关系

利用1998~2003年6~8月的NCEP/NCAR再分析资料(1.0°×1.0°经纬度网格),以对流层中部500 hPa高度层为重点,利用北半球夏季(6~8月)低纬度(0°~30°N)太平洋地区(160°E-120°W)各物理量(水平速度u,v,P-坐标垂直速度ω等)计算了水平运动方程中各分量的大小,通过比较对热带大尺度运动方程进行了简化,并给出了相应的简化方程,认为纬向风在除了赤道这一奇异带以外都是满足地转平衡的,而经向风则在离开赤道30°以外达到地转.由于热带太平洋地区是台风的重要发源地之一,因此弄清此地区的大气运动基本平衡关系有助于台风形成机制的研究.     

Use of advanced directional wave spectra analysis methods

Frequency-dependent cross-spectral parameters for pitch-roll buoy data and parameters that describe directional wave spectra based on a directional Fourier series are developed by the National Data Buoy Center (NDBC) and other organizations that collect wave data. The World Meteorological Organization (WMO) specifies wave data product formats in its Wave Observation (FM 65 WAVEOB) code. Other organizations, such as the US Army Corps of Engineers Field Wave Gaging Program (FWGP), have similar specifications. A directional Fourier series has poor directional resolution compared with advanced methods such as those based on maximum likelihood and maximum entropy. Transformations are developed for applying the advanced methods and working with directional wave information stored in the WMO's FM 65 WAVEOB code, the FWGP's Wave Data Analysis Standard (WDAS) format, and similar codes and formats. Using the transformations, a directional Fourier series expansion method, a Maximum Likelihood Method (MLM), and a Maximum Entropy Method (MEM) are each applied to 115 sets of NDBC directional wave data. The MEM and MLM provide better directional resolution, but the MEM produces artificial double peaks. There are considerable differences for the three used methods. The developed transformation equations enable wave data users to apply the method that best suits their applications.     

Dynamics and control of towed underwater vehicle system, part II: model validation and turn maneuver optimization

This paper presents a validation of a three-dimensional dynamics model of a towed underwater vehicle system and discusses an application of the model to improve the performance of the system during a turn maneuver. The model was validated by comparing its results to experimental sea trial data, as well as to results from another independently developed simulation. The dynamics model was then imbedded in an optimization routine. This routine was used to vary turn radii in order to improve the U-turn performance. Significant improvements were obtained relative to a standard semicircular turn geometry.     

半潜式平台垂向运动对气隙影响的概率统计分析

应用矩和L矩方法以及二次转换方程,基于模型试验数据的概率统计分析,研究半潜式平台在作业工况和生存工况下的气隙响应,以及平台垂向运动对立柱周围不同位置处的波浪升高和气隙的影响。结果表明,垂向运动总体上能够增加气隙,海况越恶劣,增加程度越明显;在不同浪向下对不同位置的气隙影响有差别,后立柱周围的波浪升高和气隙受平台运动的影响相比前立柱更为显著;同时,平台垂向运动会引起立柱周围波浪升高的非线性增强。     

Dynamics and control of a towed underwater vehicle system, part I: model development

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.     

波浪作用下带月池结构船体运动数值预报

流体在月池内发生共振时,有可能给船舶带来多种危险。建立基于N-S方程和VOF法的三维数值波浪水池,通过实现船体与波浪的耦合运动,对月池内流体发生活塞运动共振情况下的船体运动做出了数值预报,研究了船体运动和月池内流体运动的相互影响。通过与无月池结构船体运动对比,得到了共振情况下月池内流体活塞运动会增大船体垂荡运动的结论;通过与船体静止情况下月池内流体运动的对比,得到了船体运动会增大月池内流体活塞运动的结论。另外还研究了月池内的流场变化,以研究月池振荡的机理。     

平台运动下深水钻井隔水管非线性动力响应研究

建立深水钻井隔水管在波、流和平台运动的联合作用下的运动方程,模拟1 000 m深水钻井隔水管的非线性动力响应.分析在波、流作用下钻井液密度和顶部张力比等因素对隔水管振动频率的影响,研究平台的静偏移和动态运动对隔水管最大弯矩分布的影响.结果表明,平台运动对深水钻井隔水管的动力响应有较大影响,使隔水管上部最大弯矩峰值增加了1倍多.     

Modelling surface drifting of buoys during a rapidly-moving weather front in the Gulf of Finland, Baltic Sea

The Gulf of Finland is an elongated estuary located in the north-eastern extremity of the Baltic Sea. This semi-enclosed sea-area is subject to heavy sea traffic, and is one of the main risk areas for oil accidents in the Baltic. The continuous development and validation of operational particle drift and oil-spill forecasting systems is thus seen to be essential for this sea-area.Here, the results of a three-day drift experiment in May 2003 are discussed. The field studies were performed using GPS-positioned surface floating buoys. The aim of this paper is to evaluate how well models can reproduce the drift of these buoys. Model simulations, both in forecast and hindcast modes, were carried out by three different 3D hydrodynamic models, the results of which are evaluated by comparing the calculated drifts with observations. These models were forced by HIRLAM (High Resolution Limited Area Model) and ECMWF (European Centre for Medium-Range Weather Forecasts) meteorological forecast fields.The simulated drift of the buoys showed a good agreement with observations even when, during the study period, a rapidly-changing wind situation was observed to affect the investigation area; in this situation the winds turned about 100 degrees in half an hour. In such a case it is a very complicated task to forecast the drifters' routes: there is a need to regularly update the meteorological forcing fields and to use these regularly-updated fields throughout the simulations. It is furthermore recommended that forecasts should be made using several circulation models and several meteorological forecasts, in order to get an overview of the accuracy of the forecasted drifts and related differences in between the forecasts.     

平台运动激励下钢悬链式立管触地点动态分析

平台运动和管土相互作用是引起钢悬链式立管(Steel Catenary Riser,SCR)触地点动态响应和疲劳损伤的关键因素。基于竖向土抗力-埋深曲线和侧向库伦摩擦双线模型模拟SCR触地区管土作用,并考虑竖向海床刚度的退化,研究平台三维运动激励下SCR触地区的动态响应与疲劳寿命,相对于简单的单向运动激励和仅考虑竖向管土作用,更符合工程实际。计算结果表明:①三维管土作用下,平台垂荡运动对立管触地区的影响最大,纵荡运动次之,横荡的影响最小;②平台三维运动的耦合,在一定程度上可降低立管触地区的动力响应和疲劳损伤,若仅考虑垂荡运动,结果偏于保守;③非线性海床模型相对于线弹性海床,引起的立管触地区的应力幅值、位移幅值显著增加,虽然贯入位移较小,但土抗力较大,选用线弹性海床的计算误差较大。平台运动和海床强度对SCR触地点动态响应和疲劳损伤的影响较大,因此在SCR响应分析与设计中,准确选择海床模型和平台运动方式,对于预测立管的疲劳寿命具有重要意义。