水下拖曳升沉补偿系统水动力数学模型研究

建立变缆长的水下拖曳升沉补偿系统水动力学偏微分方程组和边界条件.拖缆动力学模型基于Ablow and Schechter模型,拖体采用水下运载体六自由度方程模拟,运用有限差分法离散偏微分方程组和牛顿迭代法计算变缆长情况下拖体深度与拖缆各点张力的动态取值.数值计算结果表明采用收放拖缆的升沉补偿方法能够有效削弱母船升沉运动对拖体深度和拖缆张力的影响.     

拖曳系统计算中拖缆与拖体的耦合计算

针对带有水下设备舱的拖曳系统,提出了一种有效的算法,来获得拖曳系统的运行状态。将拖曳系统分成拖缆和水下拖体两个部分,分别建立运动数学模型。拖缆部分的模型以Ablow和Schechter的运动数学模型为基础;拖体部分的模型采用类似潜器的水下六自由度运动方程。将这两部分方程联立,统一求解,解决两个模型之间的耦合问题。经过数值仿真的检验证明算法具有可行性。     

波浪式拖管法铺设海底管道力学性能研究

海底管道铺设是海洋油气资源开发的重要环节,传统的拖管法不能很好地适应海洋深度和复杂环境的变化。针对 Acergy公司在Girassol项目中提出的一种波浪式拖管方法,对其应用于2.0 km 长海底管道铺设进行分析。首先,结合深水海洋环境特征,采用集中质量法建立管道拖航数值模型,并介绍管道、拖缆和浮筒力学计算及水动力荷载计算方法;其次,基于非线性有限元OrcaFlex软件对拖管过程建模,以模拟实际项目拖管过程;然后,通过对比相同条件下的单波式和双波式两种拖管方式,探讨管道和拖缆的动态力学性能变化;最后,针对不同浮重比、拖航速度、拖缆长度和悬垂角、海流流速和流向角等因素展开敏感性分析。结果表明：波浪式拖管法可以有效地降低施工时对拖缆的张力需求,但也会因此增加管道局部弯矩和应力响应;相对于单波式拖管,双波式拖管在缓解由于拖航速度等变化而产生的管道局部损伤效应上更有优势,并能较好地适应不同水深环境;复杂的海流工况对拖航时管道的力学性能影响十分显著,施工前应选择合适的铺设窗口期以防止管道产生损伤。     

海洋磁力仪拖体入水深度试验与分析

拖体入水深度是水下拖曳作业的主要参数,其取决于拖体自身重量、拖缆长度和船速。通过G882TVG海洋磁力仪阵列的拖曳试验,分析了船速、配重、拖缆长度的相互关系,导出拖体入水深度计算模型,对类似设备的拖曳参数确定具有借鉴意义。     

垂荡板对半潜式风机基础拖航过程中水动力性能及运动响应的影响分析

垂荡板对半潜式风机基础水动力性能有极大的影响,从而影响基础拖航安装过程的安全。为了研究垂荡板对半潜式基础拖航过程中运动响应的影响,建立了拖缆—WindFloat浮式风机半潜式基础拖航系统模型。首先,基于三维势流理论,采用AQWA开展了拖航系统的频域水动力分析,分析了垂荡板的尺寸及形状对基础水动力性能的影响规律;进一步采用时域方法对拖航系统的运动响应进行分析,探究了垂荡板的尺寸及形状在不同浪向下对基础运动响应的影响规律。结果表明：垂荡板能有效抑制基础的垂荡RAO,但垂荡板形状对基础的水动力性能无明显影响;具有圆形垂荡板的半潜式基础在拖航过程中的运动性能略优于六边形垂荡板,在原设计基础上继续增大垂荡板尺寸对基础运动响应的抑制效果呈现先增大后减小的趋势,说明半潜式风机基础存在一个最优的垂荡板尺寸。     

系统要素对深拖系统运动的影响

深拖系统为达到预定的工作深度,必须有一根足够长的拖缆支持其工作。为保证所选拖缆具有一定的经济性和可靠性,在深拖系统设计的初步阶段能通过理论分析获得各拖缆要素对深拖系统运动的影响将具有重大意义。故本文从理论研究的角度,详细考察了缆重、缆阻力系数等系统要素对深拖系统运动的影响。这一研究可以为深拖系统设计时选择合适的缆提供重要依据     

500m深度拖曳系统的设计与试验

针对500 m波浪式拖曳系统的技术要求,介绍了拖体、流线型拖缆、电控绞车和总控程序4个关键部分的设计;根据海上的试验情况,分析了拖体的缆深比和定深拖曳等数据,表明本系统达到预期要求,可以为上层海洋学的调查与观测提供良好的平台。     

拖体定位中的海洋动态环境效应补偿

为提高海洋拖曳作业中拖体的定位精度,分析了海洋动态环境对拖体定位的影响,给出了两个主要海洋动态环境要素即海流和航速对拖体定位的补偿模型,对海洋磁力测量、侧扫声纳探测有重大应用价值。     

主动式声纳列阵拖曳系统姿态数值计算

主动式声纳列阵拖曳系统是用于探测潜艇的新型声纳系统，为了准确探测潜艇的位置，必须首先预报声纳列阵的瓷态，本文通过对其三维力学模型的分析，得到该系统的运动微分方程，其中缆索的力学方程是基于Ablow和Milinazzo的模型，而对于拖体则运用六自由度空间运动方程模拟，结合边界条件，用有限差分法求解，通过对拖船的不同运动状态如匀速，变速和回转的计算，证明本文的方法对于预报声纳列阵的姿态是有效的。     

物探船拖缆姿态及拉力预报

针对海洋地震物探船布设探测网络实际工况的要求,提出一种拟合数值计算与模型实验结果预报拖缆姿态及拉力的方法,应用此方法进行多方案比较研究,获得优化的拖缆－扩展器－检测电缆组合探测系统。经海上拖航实验验证,此种预报方法查可行,预报精度完全能满足工程实用要求。     

Some causes and effects of tow-off

The phenomenon of tow-off, or kiting, associated with faired cable systems has been studied in order to identify probable causes and demonstrate their effects. Three-dimensional cable profiles have been computed embodying experimentally determined values of all hydrodynamic quantities. The work encompasses fish induced and fairing induced tow-off, with light and heavy fairings, and provides generalised data for estimation purposes plus examples of the variation with towing speed and scope of the tow-off angles and fish displacements to be expected of a typical towed system.     

海洋测量水下拖曳设备的位置计算方法研究

针对海洋测量水下拖曳设备位置确定问题,综合考虑拖缆受力、海流影响以及水下拖体的运动性质,建立了水下拖曳设备的位置计算模型,并仿真计算分析了测量船在不同航行状态下拖曳设备位置确定的规律,探讨了不同海流效应对拖曳设备位置确定的影响。仿真计算结果表明,在海洋动态环境作用下,拖缆各方向的偏移明显呈曲线形状,非简单几何运算所确定。测船各方向的运动均可对水下拖体的位置在相应方向产生一定影响,而水下拖体位置的变化量小于测船拖点位置的变化量。海流对水下拖曳设备定位可造成数米的偏差,需进行相应改正。建议可考虑采取船载式ADCP实时测流辅助水下拖曳设备定位的工作模式。     

拖曳线列阵声纳中隔振模块研究

介绍了作为隔振模块研究依据的拖缆抖动特性的试验研究结果及隔振模块理论分析方法 ,给出了隔振模块有关参数变化对隔振量影响的理论值 ,提供了隔振模块隔振量试验方法 ,某隔振模块隔振量的测量结果以及装与不装隔振模块情况下 ,声阵的拖曳噪声声压谱级的测量结果     

Dynamic Analysis of Towed and Variable Length Cable Systems

Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.     

6000m深海拖曳系统动力响应计算

本文数值计算了６０００ｍ深海单拖体和双拖体拖曳系统的动态响应，特别是研究了拖船的垂荡运动对拖体定高性的影响。对于双拖体系统，本文对第二拖体在水中的重量、联接两拖体的缆索长度及其在水中重量等因素对第二拖体定高性的影响进行了详细的计算、分析。计算表明，采用双拖体系统可大大提高系统的定高性。     

A new approach for mobile and expandable real-time deep seafloorobservation - adaptable observation system

Although submarine cable in-line seafloor observation systems are very effective tools for real-time/long-term geo-scientific measurements,, there are technological difficulties for deploying as many sensors as on land. To solve this problem, JAM-STEC developed an expandable and replaceable satellite measurement station called the adaptable observation system (AOS). The AOS is a battery operated mobile observatory connected to the backbone cable system by a 10 km long thin fiber cable to ensure real-time data recovery. The system consists of a branching system, a junction box, a fiber cable, and a battery system for a six-month operation. Installation and construction of the AOS will be conducted by a towed vehicle and an ROV. A thin fiber cable-laying system was developed and tested for practical operation. This observation system provides a chance to extend existing seafloor networks from an in-line area to a wider area     

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.     

Study on the Configuration of Towed Flexible Cables

Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.     

波浪作用下缆船拖带系统非线性运动数值模拟

基于船舶操纵性运动方程和拖缆的三维动力学运动方程,提出了被拖点位置匹配的方法,建立了拖船—拖缆—被拖船系统整体非线性拖带动力学模型。为了考察被拖船航向稳定性与横向稳性的关系以及波浪载荷作用的影响,被拖船采用水平面四自由度运动方程,并引入了波浪的作用力和力矩。拖船采用PD控制方法较真实地模拟了拖船航向改变的运动过程。对一个拖船—拖缆—被拖船系统(5 000 t的拖船和3 000 t的被拖船)在时域内进行了规则波浪作用下拖带运动的模拟,计算结果表明被拖带船舶在波浪中运动呈现运动稳定、不稳定和临界状态3种可能的特性。根据模拟计算结果,认为波浪中拖带航向稳定是被拖带船舶保持稳性的必要条件。