CN109726519B - Motion load calculation method of cutter suction dredger under longitudinal buffer effect - Google Patents
Motion load calculation method of cutter suction dredger under longitudinal buffer effect Download PDFInfo
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Abstract
The invention discloses a motion load calculation method of a cutter suction dredger under the longitudinal buffer effect, wherein the method comprises the following steps of firstly, establishing the functional relation of the compensation force, the compensation displacement, the compensation bending moment and the longitudinal compensation rotation angle of a longitudinal buffer device; step two, establishing a deflection function calculation formula, a corner function calculation formula and a bending moment calculation formula of the positioning pile at each calculation point; step three, establishing a transient motion load coupling equation with three degrees of freedom of pitching, heaving and pitching of the ship body; step four, iteratively solving a three-degree-of-freedom transient motion load coupling equation of the ship body in each time step; step five, establishing a three-degree-of-freedom motion load coupling equation of the ship body with the buffer device not working; and step six, comparing the results with the longitudinal buffer device and without the longitudinal buffer device, and calculating the buffer efficiency of the ship body and the longitudinal buffer device. The method considers the three-degree-of-freedom transient motion of the ship body, omits the special state of the system, and has the characteristics of low calculation accuracy and calculation amount.
Description
Technical Field
The invention relates to the technical field of ships, in particular to the technical field of a motion load calculation method of a cutter suction dredger under the longitudinal buffer effect.
Background
Cutter suction dredgers are one of two main force boat types for dredging engineering. The method is used for bearing heavy civil engineering projects such as sea filling and land building, channel maintenance, offshore oil and gas engineering capital construction, offshore mineral exploitation and the like, and has great contribution to social and economic development. With the development direction of the high-end cutter suction dredger, the bearing capacity of the positioning pile becomes one of the main obstacles for further improving the working performance of the cutter suction dredger along with the enlargement and the heavy-duty. Thus, the vertical compensation system equipment for this problem has been developed and widely used, and is a hot spot of interest in the industry. The buffer system can slow down the influence of the ship body movement on the deflection degree of the positioning pile, improve the safety and the operation capability of the positioning pile, and promote the further development of the cutter suction dredger.
However, the cutter suction dredger equipped with the positioning piles has very complex motion and stress mechanisms under the longitudinal buffer action, and is a coupling problem of the ship body, the pile body and the buffer system. The calculation method and the calculation result of the problem are very important to the development of a buffer system, the evaluation of the capacity of a positioning pile and the evaluation of the performance of the cutter suction dredger. At present, the calculation method of the motion load of the cutter suction dredger under the longitudinal buffer effect is few, and the existing calculation method has the defects of insufficient accuracy, large calculation amount and the like.
Disclosure of Invention
In order to overcome the defects, a motion load calculation method of the cutter suction dredger under the longitudinal buffer effect is designed, and scientific basis is provided for design and research and development of the cutter suction dredger. The method considers the rigidity characteristics and coupling relation of the ship, the pile and the buffer system, focuses on the influence of deflection deformation of the positioning pile on the problem, and considers the transient motion coupling with three degrees of freedom of ship body heave, heave and pitching, and has better accuracy. The dynamic characteristics of the longitudinal buffer system are not considered in calculation, special states such as oil supplementing, oil leakage and current limiting in the system are not considered, and the static response of the longitudinal buffer system in a normal working state is focused, so that the calculated amount can be greatly reduced, the most main characteristics of the longitudinal buffer system are reflected, and the influence on the calculation accuracy is small.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a method for calculating a moving load of a cutter suction dredger under a longitudinal buffer effect, comprising:
calculating the functional relation of the compensation force, the compensation displacement, the compensation bending moment and the longitudinal compensation rotation angle of the longitudinal buffer device according to the performance parameters and the structural form of the longitudinal buffer device adopted by the cutter suction dredger and under the static balance condition in the normal working state;
step two, according to the rigidity, the section shape, the moment of inertia, the constraint condition and the external force of the positioning pile equipped by the cutter suction dredger;
the positioning pile extracts a plurality of discrete calculation points, and a deflection function calculation formula, a corner function calculation formula and a bending moment calculation formula of the positioning pile at each calculation point are established according to a deflection differential equation of the pure bending rod piece;
step three, taking the hull of the cutter suction dredger as a rigid object, and establishing a transient motion load coupling equation with three degrees of freedom of heave, heave and pitch of the hull, wherein an external load item in the equation comprises instantaneous environmental force and instantaneous positioning pile counter force;
step four, iteratively solving a three-degree-of-freedom transient motion load coupling equation of the ship body on each time step, and recursively forming a calculation result in a time sequence form along with the time step; variables of the result include: the motion amplitude, speed and acceleration of the ship body in the degrees of freedom of heave, pitch and heave at each time step; deflection, rotation angle and bending moment values of the positioning pile at the calculation points in each time step; and compensating the rotation angle, the displacement, the force and the bending moment of the longitudinal buffer device at each time step.
Step five, solving a three-degree-of-freedom motion load coupling equation of the ship body again by considering the condition that the longitudinal buffer device does not work and the environment condition, the ship body condition and the condition of the positioning pile are unchanged; obtaining the motion amplitude, speed and acceleration of the ship body in the degrees of freedom of pitching, pitching and heaving at each time step without the longitudinal buffer device; and deflection, rotation angle and bending moment values of the positioning pile at the calculated points in each time step;
and step six, comparing the results of the existence of the longitudinal buffer device and the absence of the longitudinal buffer device, and calculating the variation of the motion of the ship body, the stress variation of the positioning pile, the deflection variation of the positioning pile and the buffer efficiency of the longitudinal buffer device.
The above method for calculating the motion load of the cutter suction dredger under the longitudinal buffer effect, wherein the general form of the flex function calculation formula of the positioning pile is as follows:
wherein v (l) is the deflection of the spud at the distance l from the origin, v 0 、θ 0 、M 0 、N 0 Is the deflection, the corner, the bending moment and the concentrated force at the origin point, F i For the ith concentrated external force applied to the spud, M j And the j-th bending moment external force applied to the positioning pile is represented, E is the elastic modulus of the positioning pile, and I is the section moment of inertia of the positioning pile. I i Indicating that this term is only at l>l i The calculation is incorporated.
The motion load calculation method of the cutter suction dredger under the longitudinal buffer effect, wherein the three-degree-of-freedom transient motion load coupling equation of the ship body is as follows:
and the instantaneous response of the longitudinal buffer device needs to be considered on the action of the instantaneous reaction force of the positioning pile; wherein is m 0 Hull mass, m ij (i, j=1, 3, 5) is the additional mass coefficient of the hull, n ij (i, j=1, 3, 5) is the hull damping coefficient, c ij (i, j=1, 3, 5) is the hull return force coefficient,
x t for time t ship x t Body heave acceleration, velocity, displacement, +.>
z t Heave acceleration, velocity, displacement of the hull at time t +.>
θ t For pitching acceleration, speed, displacement of the hull at time t, F x,wave(t) 、F z,wave(t) 、M xz,wave(t) For environmental external forces in the degrees of freedom of heave, and heave experienced by the hull at time t, F spud(t) 、M spud(t) And the counter force and counter bending moment of the positioning pile acting on the ship body at the moment t are adopted.
With the technical scheme, the following beneficial effects can be achieved:
the motion load calculation method of the cutter suction dredger under the longitudinal buffer effect considers three degrees of freedom transient motion coupling of ship body pitching, heaving and pitching, and has calculation accuracy; and the dynamic characteristics of the longitudinal buffer system are not considered, special states such as oil supplementing, oil leakage and current limiting in the system are not considered, and the static response of the system in the normal working state is focused, so that the calculated amount can be greatly reduced.
Drawings
Fig. 1 is a schematic view of a pile for a method for calculating a moving load of a cutter suction dredger under a longitudinal buffering effect according to the present invention.
In the accompanying drawings: 1 upper anchor ear, 2 lower anchor ear, 3 pile inserting points.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
In a preferred embodiment, a method for calculating a motion load of a cutter suction dredger under a longitudinal buffering effect comprises the following steps:
calculating the functional relation of the compensation force, the compensation displacement, the compensation bending moment and the longitudinal compensation rotation angle of the longitudinal buffer device according to the performance parameters and the structural form of the longitudinal buffer device adopted by the cutter suction dredger and under the static balance condition in the normal working state;
step two, according to the rigidity, the section shape, the moment of inertia, the constraint condition and the external force of the positioning pile equipped by the cutter suction dredger;
the positioning pile extracts a plurality of discrete calculation points, and a deflection function calculation formula, a corner function calculation formula and a bending moment calculation formula of the positioning pile at each calculation point are established according to a deflection differential equation of the pure bending rod piece;
step three, taking the hull of the cutter suction dredger as a rigid object, and establishing a transient motion load coupling equation with three degrees of freedom of heave, heave and pitch of the hull, wherein an external load item in the equation comprises instantaneous environmental force and instantaneous positioning pile counter force;
step four, iteratively solving a three-degree-of-freedom transient motion load coupling equation of the ship body on each time step, and recursively forming a calculation result in a time sequence form along with the time step; variables of the result include: the motion amplitude, speed and acceleration of the ship body in the degrees of freedom of heave, pitch and heave at each time step; deflection, rotation angle and bending moment values of the positioning pile at the calculation points in each time step; and compensating the rotation angle, the displacement, the force and the bending moment of the longitudinal buffer device at each time step.
Step five, solving a three-degree-of-freedom motion load coupling equation of the ship body again by considering the condition that the longitudinal buffer device does not work and the environment condition, the ship body condition and the condition of the positioning pile are unchanged; obtaining the motion amplitude, speed and acceleration of the ship body in the degrees of freedom of pitching, pitching and heaving at each time step without the longitudinal buffer device; and deflection, rotation angle and bending moment values of the positioning pile at the calculated points in each time step;
and step six, comparing the results of the existence of the longitudinal buffer device and the absence of the longitudinal buffer device, and calculating the variation of the motion of the ship body, the stress variation of the positioning pile, the deflection variation of the positioning pile and the buffer efficiency of the longitudinal buffer device.
The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the embodiments and the protection scope of the present invention.
Further, in a preferred embodiment, the flexural function calculation of the spud is of the general form:
wherein v (l) is the deflection of the spud at the distance l from the origin, v 0 、θ 0 、M 0 、N 0 Is the deflection, the corner, the bending moment and the concentrated force at the origin point, F i For the ith concentrated external force applied to the spud, M j And the j-th bending moment external force applied to the positioning pile is represented, E is the elastic modulus of the positioning pile, and I is the section moment of inertia of the positioning pile. I i Indicating that this term is only at l>l i The calculation is incorporated.
Further, in a preferred embodiment, the three degree of freedom transient motion load coupling equation for the hull is in the form of:
and the instantaneous response of the longitudinal buffer device needs to be considered on the action of the instantaneous reaction force of the positioning pile; wherein is m 0 Hull mass, m ij (i, j=1, 3, 5) is the additional mass coefficient of the hull, n ij (i, j=1, 3, 5) is the hull damping coefficient, c ij (i, j=1, 3, 5) is the hull return force coefficient,
x t for time t ship x t Body heave acceleration, velocity, displacement, +.>
z t Heave acceleration, velocity, displacement of the hull at time t +.>
θ t For pitching acceleration, speed, displacement of the hull at time t, F x,wave(t) 、F z,wave(t) 、M xz,wave(t) For environmental external forces in the degrees of freedom of heave, and heave experienced by the hull at time t, F spud(t) 、M spud(t) And the counter force and counter bending moment of the positioning pile acting on the ship body at the moment t are adopted.
Specifically, the calculation example is a calculation of a motion load of a cutter suction dredger equipped with a positioning pile under an oil cylinder type longitudinal buffer system, the positioning pile in the example is constrained by a hinged support at the pile tip and by an upper anchor ear and a lower anchor ear on a pile body, the anchor ear is connected with a ship body through an upper walking rod piece and a lower walking rod piece on a trolley structure, and the buffer system is positioned on the upper walking rod and is an intermediate system between the ship body and the pile body.
Taking the calculation on the t time step as an example, the steps are as follows:
1) The input parameters required by the calculation example are read, including the mass information and hydrodynamic parameters of the ship body, the section shape of the positioning pile, the connection form of the positioning pile and the ship body, the prepressing, the travel, the installation position and the like of the oil cylinder type buffer system.
2) Reading motion vector [ x ] of ship body at t-delta t moment] t-Δt 、[z] t-Δt 、[θ] t-Δt Corner theta of positioning pile at constrained point s 。
3) Reading the environmental force F at time t wave，x 、F wave，z 、M wave，xz And a steel pile reaction force F at the moment of t-delta t spud 。
4) Will environmental force F wave，x 、F wave，z 、M wave，xz And steel pile reaction force F spud Conversion to a resultant force in heave, heave degrees of freedom:
F x ＝F wave，x +F spud ·cos(θ s )
F z ＝F wave，z +(F wave，x +F spud )·sin(θ s )
M xz ＝M wave，xz +M spud
5) Building a shipA recursive relationship of body motion from time t- Δt to time t. By the degree of acceleration of the respective degrees of freedom
As a basic variable, assuming that acceleration in Δt interval varies linearly, then:
the same principle is as follows:
thus, only three of the motion variables are independent variables, and the velocity and displacement vectors can be determined from the known amounts and acceleration displacement.
6) Substituting the relation in 3) and 4) into the following ship longitudinal plane motion load coupling equation, wherein the equation can be disassembled into three algebraic equations from a matrix form, and the number of the equations is equal to the number of independent variables (3 each), so that the acceleration can be obtained
Is a unique solution to (c).
7) Taking a piston displacement trial value s of a buffer oil cylinder p Calculating corresponding compensation angle theta buf Force F of cylinder axis buf . In the rigid connection condition, the step directly takes s p ＝0。
8) Obtaining x according to the relation established in 4) t 、θ t Calculating the displacement corner condition of the positioning pile at the upper hoop and the lower hoop by combining the buffer values in the step 6):
v 2 ＝x t +L 2，g ·(cos(θ 2g )-cos(θ 2g +θ t ))
θ 1 ＝θ t +θ buf
θ 2 ＝θ t +θ buf
wherein L is Lg Is the straight line distance theta between the middle point of the upper hoop and the gravity center of the ship body 1g An included angle is formed between the connecting line of the upper anchor ear and the gravity center of the ship body and the horizontal line, L up L is the height of the upper walking rod from the pile tip of the positioning pile 1 The height of the upper anchor ear from the pile tip of the positioning pile. The meaning of the variable name corresponding to the lower anchor ear is similar and is not repeated here.
1) And calculating the stress of the positioning pile under the forced displacement. Referring to fig. 1, the stress calculation formulas at the positions of the upper anchor ear 1, the lower anchor ear 2 and the pile inserting point 3 are as follows:
F 1 ＝-F 2 -F 3
M 1 ＝-M 2 -M 3
2) And (3) dispersing the pile body into a series of point sets by taking 0.05m as a step length, and calculating the displacement, the rotation angle and the bending moment of each section according to the stress of the positioning pile obtained in the step 8).
l＝0.05×i，i＝1：Lspud/0.05
Wherein Lspud is the total length of the spud on the mud surface.
3) And calculating the axial force of the up-down walking rod, namely the reaction force born by the ship body.
F uplod +F lowlod ＝F 1 +F 2
F uplod ·L up，c +F lowlod ·L down，c ＝0
Wherein L is up，c For the distance of the vertical line from the upper walking rod to the rotation point (track slide block) of the trolley, L down，c For the distance of the perpendicular from the lower travel bar to the trolley rotation point (track slide).
4) Calculating new buffer according to the axial force of the upper walking rod and the relation between the cylinder stress and displacement of the buffer systemCylinder piston displacement heuristic value s p 。
5) And returning to the step 6), substituting the new displacement of the oil cylinder, calculating to obtain a new compensation angle and compensation displacement, and performing loop iteration. The convergence condition of the iteration is that the sum of absolute values of the difference between the axial forces of the upper walking rod and the lower walking rod in two adjacent circulating steps is not more than 5kN, namely:
|F uplod (n)-F uplod (n-1)|+|F downlod (n)-F downlod (n-1)|＜5
after the calculation in all time steps is completed, the time sequence of the calculation results of the motion loads of the ship body, the positioning piles and the buffer system can be obtained. Comparing the result under the buffer working condition with the result under the unbuffered working condition, and calculating the buffer efficiency:
wherein M is nonbuf，max Is the maximum value of bending moment on each calculation point and each time step of the pile body under the unbuffered working condition, M nonbuf，max The maximum bending moment value of each calculation point and each time step of the pile body under the buffer working condition is obtained.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included in the scope of the present invention.
Claims (3)
1. A method for calculating a moving load of a cutter suction dredger under a longitudinal buffering action, comprising the steps of:
calculating the functional relation of the compensation force, the compensation displacement, the compensation bending moment and the longitudinal compensation rotation angle of the longitudinal buffer device according to the performance parameters and the structural form of the longitudinal buffer device adopted by the cutter suction dredger and under the static balance condition in the normal working state;
step two, according to the rigidity, the section shape, the moment of inertia, the constraint condition and the external force of the positioning pile equipped by the cutter suction dredger;
the positioning pile extracts a plurality of discrete calculation points, and a deflection function calculation formula, a corner function calculation formula and a bending moment calculation formula of the positioning pile at each calculation point are established according to a deflection differential equation of the pure bending rod piece;
step three, taking the hull of the cutter suction dredger as a rigid object, and establishing a transient motion load coupling equation with three degrees of freedom of heave, heave and pitch of the hull, wherein an external load item in the equation comprises instantaneous environmental force and instantaneous positioning pile counter force;
step four, iteratively solving a three-degree-of-freedom transient motion load coupling equation of the ship body on each time step, and recursively forming a calculation result in a time sequence form along with the time step; variables of the result include: the motion amplitude, speed and acceleration of the ship body in the degrees of freedom of heave, pitch and heave at each time step; deflection, rotation angle and bending moment values of the positioning pile at the calculation points in each time step; the compensation rotation angle, the compensation displacement, the compensation force and the compensation bending moment of the longitudinal buffer device are compensated in each time step;
step five, solving a three-degree-of-freedom motion load coupling equation of the ship body again by considering the condition that the longitudinal buffer device does not work and the environment condition, the ship body condition and the condition of the positioning pile are unchanged; obtaining the motion amplitude, speed and acceleration of the ship body in the degrees of freedom of pitching, pitching and heaving at each time step without the longitudinal buffer device; and deflection, rotation angle and bending moment values of the positioning pile at the calculated points in each time step;
and step six, comparing the results of the existence of the longitudinal buffer device and the absence of the longitudinal buffer device, and calculating the variation of the motion of the ship body, the stress variation of the positioning pile, the deflection variation of the positioning pile and the buffer efficiency of the longitudinal buffer device.
2. The method for calculating the motion load of a cutter suction dredger under the action of longitudinal buffering according to claim 1, wherein the flex function calculation formula of the positioning pile is as follows:
wherein v (l) is the deflection of the spud at the distance l from the origin, v 0 、θ 0 、M 0 、N 0 Is the deflection, the corner, the bending moment and the concentrated force at the origin point, F i For the ith concentrated external force applied to the spud, M j The j-th bending moment external force applied to the positioning pile is represented, E is the elastic modulus of the positioning pile, I is the section moment of inertia of the positioning pile, and I l i Indicating that this term is only at l>l i The calculation is incorporated.
3. The method for calculating the motion load of the cutter suction dredger under the longitudinal buffer effect according to claim 1, wherein the three-degree-of-freedom transient motion load coupling equation of the ship body is in the form of:
and the instantaneous response of the longitudinal buffer device needs to be considered on the action of the instantaneous reaction force of the positioning pile; wherein the method comprises the steps of
Is m 0 Hull mass, m ij (i, j=1, 3, 5) is the additional mass coefficient of the hull, n ij (i, j=1, 3, 5) is the hull damping coefficient, c ij (i, j=1, 3, 5) is the hull return force coefficient,
x t for time t ship x t Body heave acceleration, velocity, displacement, +.>
z t Is the heave acceleration, the speed of the ship body at the moment t,Displacement (I)>
θ t For pitching acceleration, speed, displacement of the hull at time t, F x,wave(t) 、F z,wave(t) 、M xz,wave(t) For environmental external forces in the degrees of freedom of heave, and heave experienced by the hull at time t, F spud(t) 、M spud(t) And the counter force and counter bending moment of the positioning pile acting on the ship body at the moment t are adopted. />
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