CN109726519A - A kind of movement load calculation method of cutter suction dredger under longitudinal buffer effect - Google Patents
A kind of movement load calculation method of cutter suction dredger under longitudinal buffer effect Download PDFInfo
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Abstract
The invention discloses a kind of movement load calculation method of cutter suction dredger under longitudinal buffer effect, wherein Step 1: establishing the balancing force of longitudinal buffer device, compensation displacement, compensation moment of flexure and longitudinal compensation corner functional relation；Step 2: establishing flexural function calculating formula, corner function calculating formula and calculation of Bending Moment formula of the guide pile at each calculating point；Step 3: establishing the surging of hull, heaving, pitching Three Degree Of Freedom transient motion load coupled wave equation；Step 4: iteratively solving the Three Degree Of Freedom transient motion load coupled wave equation of hull on each time step；Step 5: establishing the three-degree-of-freedom motion load coupled wave equation of the idle hull of buffer unit；Step 6: comparing there is longitudinal buffer device with the result without longitudinal buffer device, the buffering efficiency of hull and longitudinal buffer device is calculated.The present invention considers hull Three Degree Of Freedom transient motion, has ignored the special state of system, has the characteristics that calculate accuracy and calculation amount is small.
Description
Technical field
The present invention relates to a kind of movement of the technical field of ship more particularly to cutter suction dredger under longitudinal buffer effect
The technical field of load calculation method.
Background technique
Cutter suction dredger is one of Liang great main force ship type of dredging work.Undertake sea reclamation, channel maintenance, offshore oil and gas
The great people's livelihood engineering projects such as engineering capital construction, marine exploitation of mineral resources, contribute socio-economic development huge.With enlargement and again
Type chemical conversion is the developing direction of high-end cutter suction dredger, and the bearing capacity of guide pile becomes cutter suction dredger and further increases workability
One of the major obstacle of energy.Therefore, it comes into being, and is used widely for the longitudinal compensation system equipment of this problem,
As the hot spot paid close attention in the industry.This buffer system can slow down influence of the ship motion to guide pile amount of deflection degree, and it is fixed to improve
The safety and work capacity of position stake, push the further development of cutter suction dredger.
However, equipment guide pile cutter suction dredger longitudinal buffer effect under movement, mechanical behavior it is extremely complex, be
Hull, pile body, buffer system three coupled problem.And the calculation method and calculated result of this problem grind buffer system
Hair, the assessment of guide pile ability, the evaluation of cutter suction dredger performance are most important.Currently, being suitable for cutter suction dredger in longitudinal direction
Movement load calculation method under buffer function is also seldom, existing calculation method there is accuracys it is insufficient, computationally intensive etc. lack
Point.
Summary of the invention
In view of the above deficiencies, a kind of movement load calculation method of cutter suction dredger under longitudinal buffer effect is now designed,
To twist the design for inhaling ship, research and development provide scientific basis.This method consider ship, stake, buffer system three stiffness characteristics with
Coupled relation, has paid close attention to influence of the deflection deformation to problem of guide pile, and considers hull surging, heaving, pitching three freely
Transient motion coupling is spent, method has preferable accuracy.The dynamic characteristic for not considering longitudinal buffer system in calculating, does not consider
The special states such as repairing, oil leak, current limliting in system, and the steady-error coefficient under its normal operating conditions is focused on, it can subtract significantly
Small calculation amount, while reflecting the most important characteristic of longitudinal buffer system, the influence very little to computational accuracy.
In order to achieve the above object, the invention adopts the following technical scheme:
The movement load calculation method of a kind of cutter suction dredger under longitudinal buffer effect, wherein include:
Step 1: the performance parameter and structure type of the longitudinal buffer device according to used by cutter suction dredger, with normal
Static balance condition under working condition calculates the balancing force of the longitudinal buffer device, compensation displacement, compensation moment of flexure and longitudinal direction and mends
Repay the functional relation of corner；
Step 2: the rigidity for the guide pile equipped according to the cutter suction dredger, cross sectional shape, the moment of inertia, about
Beam condition and suffered external force；
The guide pile extracts a number of discrete calculation point, described in the curve differential equation foundation with pure bending rod piece
Flexural function calculating formula, corner function calculating formula and calculation of Bending Moment formula of the guide pile at each calculating point；
Step 3: consider that the hull of the cutter suction dredger is a rigid objects, establish the surging of the hull, heaving,
Pitching Three Degree Of Freedom transient motion load coupled wave equation, the external applied load item in equation includes that momentary surroundings power and instantaneous guide pile are anti-
Power；
Step 4: the Three Degree Of Freedom transient motion load coupled wave equation of the hull is iteratively solved on each time step,
The recursion of spacer step forms the calculated result of time series form at any time；The variable of the result includes: that each time step is gone on board
Motion amplitude of the body in surging, pitching, heaving freedom degree, speed, acceleration；The guide pile is being counted on each time step
Amount of deflection, corner, moment at calculation point；The compensation corner of the longitudinal buffer device, compensation displacement, benefit on each time step
Repay power, compensation moment of flexure.
Step 5: considering that the longitudinal buffer device does not work and the condition of environmental condition, hull conditions, the guide pile
Constant situation solves the three-degree-of-freedom motion load coupled wave equation of the hull again；It obtains without the longitudinal buffer device
When each time step on motion amplitude of the hull in surging, pitching, heaving freedom degree, speed, acceleration；And it is every
The guide pile is calculating amount of deflection, corner and moment at point on one time step；
Step 6: comparing there is the longitudinal buffer device with the result without the longitudinal buffer device, institute is calculated
State the variable quantity of the movement of hull, the stress variable quantity of the guide pile, the flexure variable quantity of the guide pile and the longitudinal direction
The buffering efficiency of buffer unit.
A kind of movement load calculation method of the above-mentioned cutter suction dredger under longitudinal buffer effect, wherein the guide pile
The flexural function calculating formula general type are as follows:
Wherein v (l) is the guide pile in the amount of deflection at origin l, v0、θ0、M0、N0For at origin amount of deflection, turn
Angle, moment of flexure, concentrated force, FiThe concentration external force being applied on the guide pile for i-th, MjIt indicates to be applied to the positioning j-th
Moment of flexure external force in stake, E are the elasticity modulus of the guide pile, and I is the cross sectional moment of inertia of the guide pile.||liIndicate this
Only in l > liWhen be included in calculating.
Movement load calculation method of the above-mentioned a kind of cutter suction dredger under longitudinal buffer effect, wherein the hull
The form of Three Degree Of Freedom transient motion load coupled wave equation are as follows:
And need to consider effect of the transient response of longitudinal buffer device to the instantaneous counter-force of guide pile；It is wherein m0Hull
Quality, mij(i, j=1,3,5) is hull mass coefficient, nij(i, j=1,3,5) is hull damped coefficient, cij(i, j=
1,3,5) force coefficient is replied for hull,xtFor t moment ship xtThe surging acceleration of body, speed, displacement,zt
For the heaving acceleration of t moment hull, speed, displacement,θtFor the acceleration in pitch of t moment hull, speed, displacement,
Fx,wave(t)、Fz,wave(t)、Mxz,wave(t)The surging that is subject to for t moment hull, heaving, the external force of environment in pitching freedom degree,
Fspud(t)、Mspud(t)The counter-force and recurvation square that hull is acted on for t moment guide pile.
With above technical scheme, can reach it is following the utility model has the advantages that
It is vertical that a kind of movement load calculation method of cutter suction dredger of the invention under longitudinal buffer effect considers hull
It swings, heaving, the coupling of pitching Three Degree Of Freedom transient motion, has and calculate accuracy；And the dynamic of longitudinal buffer system is not considered
Characteristic, the special states such as repairing, oil leak, current limliting in not consideration system, and the steady-error coefficient under its normal operating conditions is focused on,
Calculation amount can be greatly reduced.
Detailed description of the invention
Fig. 1 is a kind of guide pile of the movement load calculation method of cutter suction dredger of the invention under longitudinal buffer effect
Schematic diagram.
In attached drawing: anchor ear, 2 lower anchor ears, 3 pitching pile points on 1.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
In a kind of preferred embodiment, a kind of movement load calculating side of cutter suction dredger under longitudinal buffer effect
Method, wherein include:
Step 1: the performance parameter and structure type of the longitudinal buffer device according to used by cutter suction dredger, with normal
Static balance condition under working condition calculates the balancing force of the longitudinal buffer device, compensation displacement, compensation moment of flexure and longitudinal direction and mends
Repay the functional relation of corner；
Step 2: the rigidity for the guide pile equipped according to the cutter suction dredger, cross sectional shape, the moment of inertia, about
Beam condition and suffered external force；
The guide pile extracts a number of discrete calculation point, described in the curve differential equation foundation with pure bending rod piece
Flexural function calculating formula, corner function calculating formula and calculation of Bending Moment formula of the guide pile at each calculating point；
Step 3: consider that the hull of the cutter suction dredger is a rigid objects, establish the surging of the hull, heaving,
Pitching Three Degree Of Freedom transient motion load coupled wave equation, the external applied load item in equation includes that momentary surroundings power and instantaneous guide pile are anti-
Power；
Step 4: the Three Degree Of Freedom transient motion load coupled wave equation of the hull is iteratively solved on each time step,
The recursion of spacer step forms the calculated result of time series form at any time；The variable of the result includes: that each time step is gone on board
Motion amplitude of the body in surging, pitching, heaving freedom degree, speed, acceleration；The guide pile is being counted on each time step
Amount of deflection, corner, moment at calculation point；The compensation corner of the longitudinal buffer device, compensation displacement, benefit on each time step
Repay power, compensation moment of flexure.
Step 5: considering that the longitudinal buffer device does not work and the condition of environmental condition, hull conditions, the guide pile
Constant situation solves the three-degree-of-freedom motion load coupled wave equation of the hull again；It obtains without the longitudinal buffer device
When each time step on motion amplitude of the hull in surging, pitching, heaving freedom degree, speed, acceleration；And it is every
The guide pile is calculating amount of deflection, corner and moment at point on one time step；
Step 6: comparing there is the longitudinal buffer device with the result without the longitudinal buffer device, institute is calculated
State the variable quantity of the movement of hull, the stress variable quantity of the guide pile, the flexure variable quantity of the guide pile and the longitudinal direction
The buffering efficiency of buffer unit.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention.
Further, in a kind of preferred embodiment, the general type of the flexural function calculating formula of the guide pile are as follows:
Wherein v (l) is the guide pile in the amount of deflection at origin l, v0、θ0、M0、N0For at origin amount of deflection, turn
Angle, moment of flexure, concentrated force, FiThe concentration external force being applied on the guide pile for i-th, MjIt indicates to be applied to the positioning j-th
Moment of flexure external force in stake, E are the elasticity modulus of the guide pile, and I is the cross sectional moment of inertia of the guide pile.||liIndicate this
Only in l > liWhen be included in calculating.
Further, in a kind of preferred embodiment, the shape of the Three Degree Of Freedom transient motion load coupled wave equation of the hull
Formula are as follows:
And need to consider effect of the transient response of longitudinal buffer device to the instantaneous counter-force of guide pile；It is wherein m0Hull
Quality, mij(i, j=1,3,5) is hull mass coefficient, nij(i, j=1,3,5) is hull damped coefficient, cij(i, j=
1,3,5) force coefficient is replied for hull,xtFor t moment ship xtThe surging acceleration of body, speed, displacement,zt
For the heaving acceleration of t moment hull, speed, displacement,θtFor the acceleration in pitch of t moment hull, speed, displacement,
Fx,wave(t)、Fz,wave(t)、Mxz,wave(t)The surging that is subject to for t moment hull, heaving, the external force of environment in pitching freedom degree,
Fspud(t)、Mspud(t)The counter-force and recurvation square that hull is acted on for t moment guide pile.
Specifically, this example is that movement of the cutter suction dredger of an equipment guide pile under cylinder type longitudinal buffer system carries
Lotus calculates, and the guide pile in this example, by hinged constraint, is constrained on pile body by upper and lower anchor ear in pile top, and anchor ear passes through trolley knot
Upper walking rod piece and lower walking rod piece on structure are connected with hull, and it is between hull and pile body that buffer system, which is located on upper walking rod,
Intermediate system.
By taking the calculating on t time step as an example, steps are as follows:
1) input parameter needed for reading example, the section of quality information and hydrodynamic parameter, guide pile including hull
Shape and with the type of attachment of hull, the precompressed of cylinder type buffer system, stroke and installation site etc..
2) motion vector [x] of t- time Δt hull is readt-Δt、[z]t-Δt、[θ]t-ΔtAnd guide pile is at constrained point
Rotational angle thetas。
3) the environmental forces F of t moment is readWave, x、FWave, z、MWave, xzWith the piling bar counter-force F of t- time Δtspud。
4) by environmental forces FWave, x、FWave, z、MWave, xzWith piling bar counter-force FspudIt is converted into surging, heaving, in pitching freedom degree
Resultant force:
Fx=FWave, x+Fspud·cos(θs)
Fz=FWave, z+(FWave, x+Fspud)·sin(θs)
Mxz=MWave, xz+Mspud
5) recurrence relation of the ship motion from t- time Δt to t moment is established.With the amount of acceleration of each freedom degreeAs basic variable, it is assumed that acceleration is in linear variation in the section Δ t, then:
Similarly have:
Only three acceleration are independent variable in kinematic variables as a result, and speed and motion vector can be by known quantities and acceleration
Degree displacement determines.
And 4) 6) 3) relational expression in is substituted into and is indulged in plane motion load coupled wave equation with pontoon, equation can be from matrix
Form dismantling is three algebraic equations, then equation quantity and independent variable number are equal (each 3), can acquire accelerationUnique solution.
7) a cushion cylinder piston displacement exploration value s is takenp, calculate corresponding offset angle θbuf, oil cylinder axle power Fbuf.Rigid
Property connection operating condition in, this step directly takes sp=0.
8) x is acquired according to the relationship 4) establishedt、θt, in conjunction with the buffer value in 6), guide pile is calculated at upper and lower anchor ear
It is displaced corner condition:
v2=xt+L2, g·(cos(θ2g)-cos(θ2g+θt))
θ1=θt+θbuf
θ2=θt+θbuf
Wherein LLgLinear distance for upper anchor ear midpoint to hull center of gravity, θ1gFor upper anchor ear and hull center of gravity line and water
Horizontal line angle, LupHeight for upper walking rod away from guide pile pile top, L1Height for upper anchor ear away from guide pile pile top.Similarly
There is the corresponding variable name meaning of lower anchor ear, details are not described herein.
1) stress of the guide pile in the case where forcing displacement is calculated.It is shown in Figure 1, upper anchor ear 1, lower anchor ear 2, pitching pile point 3
Locate stress formula are as follows:
F1=-F2-F3
M1=-M2-M3
2) by step-length of 0.05m by the discrete set for series of points of pile body, according to 8) resulting guide pile Force Calculation
The displacement of each section, corner, moment of flexure.
L=0.05 × i, i=1:Lspud/0.05
Wherein Lspud is overall length of the guide pile on mud face.
3) axle power of bar of walking up and down is calculated, i.e. the reaction force that is subject to of hull.
Fuplod+Flowlod=F1+F2
Fuplod·LUp, c+Flowlod·LDown, c=0
Wherein LUp, cFor upper walking rod to the vertical line distance of the trolley point of rotation (rail slider), LDown, cIt is arrived for lower walking rod
The vertical line distance of the trolley point of rotation (rail slider).
4) according to the relationship of the cylinder force and displacement of the axle power of upper walking rod and buffer system, new buffering is calculated
Oil cylinder piston is displaced exploration value sp。
5) it returns to step 6) to substitute into new oil cylinder displacement, new offset angle, compensation displacement is calculated, circulation changes
Generation.The condition of convergence of iteration is that the sum of the absolute value of the difference of upper and lower walking rod axle power in the adjacent step of circulation twice is not more than 5kN,
That is:
|Fuplod(n)-Fuplod(n-1)|+|Fdownlod(n)-Fdownlod(n-1) | < 5
After completing the calculating on all time steps, hull, guide pile, buffer system movement load calculated result can be obtained
Time series.The result buffered under operating condition is compared with without the result under buffering operating condition, calculates buffering efficiency:
Wherein MNonbuf, maxRespectively to calculate point, the moment of flexure maximum value on each time step, M without pile body under buffering operating conditionNonbuf, max
Point, the moment of flexure maximum value on each time step are respectively calculated for pile body under buffering operating condition.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right
For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (3)
1. a kind of movement load calculation method of cutter suction dredger under longitudinal buffer effect characterized by comprising
Step 1: the performance parameter and structure type of the longitudinal buffer device according to used by cutter suction dredger, to work normally
Static balance condition under state calculates the balancing force of the longitudinal buffer device, compensation displacement, compensation moment of flexure and longitudinal compensation and turns
The functional relation at angle；
Step 2: rigidity, cross sectional shape, the moment of inertia, constraint item of the guide pile equipped according to the cutter suction dredger
Part and suffered external force；
The guide pile extracts a number of discrete calculation point, establishes the positioning with the curve differential equation of pure bending rod piece
Flexural function calculating formula, corner function calculating formula and calculation of Bending Moment formula of the stake at each calculating point；
Step 3: the hull for considering the cutter suction dredger is a rigid objects, the surging, heaving, pitching of the hull are established
Three Degree Of Freedom transient motion load coupled wave equation, the external applied load item in equation includes momentary surroundings power and instantaneous guide pile counter-force；
Step 4: iteratively solving the Three Degree Of Freedom transient motion load coupled wave equation of the hull on each time step, at any time
The recursion of spacer step forms the calculated result of time series form；The variable of the result includes: that each time step upper hull exists
Surging, pitching, the motion amplitude in heaving freedom degree, speed, acceleration；The guide pile is calculating point on each time step
The amount of deflection at place, corner, moment；The compensation corner of the longitudinal buffer device, compensation displacement, compensation on each time step
Power, compensation moment of flexure.
Step 5: considering that the longitudinal buffer device does not work and environmental condition, hull conditions, the condition of the guide pile are constant
The case where, the three-degree-of-freedom motion load coupled wave equation of the hull is solved again；It is every when obtaining without the longitudinal buffer device
Motion amplitude of the hull in surging, pitching, heaving freedom degree, speed, acceleration on one time step；And each
The guide pile is calculating amount of deflection, corner and moment at point on time step；
Step 6: comparing there is the longitudinal buffer device with the result without the longitudinal buffer device, the ship is calculated
The variable quantity of the movement of body, the stress variable quantity of the guide pile, the guide pile flexure variable quantity and the longitudinal buffer
The buffering efficiency of device.
2. movement load calculation method of a kind of cutter suction dredger under longitudinal buffer effect according to claim 1, special
Sign is, the general type of the flexural function calculating formula of the guide pile are as follows:
Wherein v (l) is the guide pile in the amount of deflection at origin l, v0、θ0、M0、N0For the amount of deflection, corner, curved at origin
Square, concentrated force, FiThe concentration external force being applied on the guide pile for i-th, MjIt indicates to be applied on the guide pile for j-th
Moment of flexure external force, E be the guide pile elasticity modulus, I be the guide pile cross sectional moment of inertia.||liIndicate that this only exists
l>liWhen be included in calculating.
3. movement load calculation method of a kind of cutter suction dredger under longitudinal buffer effect according to claim 1, special
Sign is, the form of the Three Degree Of Freedom transient motion load coupled wave equation of the hull are as follows:
And need to consider effect of the transient response of longitudinal buffer device to the instantaneous counter-force of guide pile；It is wherein m0Hull mass,
mij(i, j=1,3,5) is hull mass coefficient, nij(i, j=1,3,5) is hull damped coefficient, cij(i, j=1,3,5)
Force coefficient is replied for hull,xtFor t moment ship xtThe surging acceleration of body, speed, displacement,ztWhen for t
Heaving acceleration, the speed, displacement of hull are carved,θtFor the acceleration in pitch of t moment hull, speed, displacement,
Fx,wave(t)、Fz,wave(t)、Mxz,wave(t)The surging that is subject to for t moment hull, heaving, the external force of environment in pitching freedom degree,
Fspud(t)、Mspud(t)The counter-force and recurvation square that hull is acted on for t moment guide pile.
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