CN112937798A - Efficient damaged ship instability motion assessment method - Google Patents
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Abstract
The invention discloses a high-efficiency damaged ship instability motion assessment method, relating to the technical field of ships, the method determines a plurality of mutually independent target wave sea states according to a service scene, carries out numerical simulation based on a constructed time domain motion model of the damaged ship according to each target wave sea state to obtain a wave time sequence of each target wave sea state so as to determine corresponding effective simulation duration, then carrying out numerical simulation based on a damaged ship time domain motion model according to the effective simulation duration to obtain a rolling angle amplitude value so as to carry out unstable motion evaluation, the method selects the wave sea state for evaluation according to the service scene, can fully reduce the simulation times aiming at the single sea state, and the independence between stability failure events can be ensured, the method has the advantages of both precision and efficiency, and is very suitable for evaluating the instability characteristics of damaged ships in waves.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a high-efficiency damaged ship instability motion assessment method.
Background
The ship sails in the actual marine environment, because of accidents such as collision, grounding and touch, it is damaged to probably cause single or a plurality of cabins, and then cause a large amount of intakes in the cabin, the hull inclines and moves by a wide margin along with the hull in the wave, if the ship stationarity is not enough this moment, the moment of restitution is zero or negative value when the hull moves in the wave promptly, then the hull angle of inclination can be bigger and bigger, produce the destabilization motion, lead to boats and ships to topple or sink, the prejudgement of damaged boats and ships destabilization motion in the wave, it is vital to the overall design and the safe navigation of boats and ships.
The existing probabilistic evaluation method needs to ensure that the random seed number of each simulation reaches a certain confidence, that is, the probability evaluation of a single sea state may need to simulate the motion performance of a damaged ship under thousands of random wave sequences to meet the requirement of the confidence, which may result in that the comprehensive evaluation of one damage probability needs the last month time, and the precision and the efficiency of the evaluation are difficult to simultaneously ensure.
Disclosure of Invention
The invention provides an efficient damaged ship instability motion assessment method aiming at the problems and the technical requirements, and the technical scheme of the invention is as follows:
an efficient damaged ship instability motion assessment method comprises the following steps:
taking the fluid motion at the damaged port of the damaged ship and the motion of the damaged ship as an integral construction to obtain a damaged ship time-domain motion model, wherein the damaged ship time-domain motion model also comprises a water inlet motion parameter at the damaged port on the basis of a ship body motion equation;
determining a plurality of mutually independent target wave sea conditions according to a service scene, and carrying out numerical simulation based on a damaged ship time domain motion model according to each target wave sea condition to obtain a wave time sequence of each target wave sea condition;
carrying out autocorrelation analysis on the wave time sequence of each target wave sea state to determine corresponding effective simulation duration;
carrying out a plurality of times value simulation on each target wave sea condition based on a damaged ship time domain motion model according to a preset total simulation duration to obtain a rolling angle amplitude value under the target wave sea condition, wherein the duration of each time numerical simulation on the target wave sea condition is a corresponding effective simulation duration;
and if the rolling angle amplitude under each target wave sea condition is smaller than the overturning angle threshold value, determining that the damaged ship is not unstable, otherwise, determining that the damaged ship is unstable.
The further technical scheme is that the damaged ship time domain motion model also considers the water inlet motion parameters at the damaged position including the water inlet quality, the water inlet flow rate and the restoring force generated by water inlet in real time on the basis of a ship body motion equation.
The technical scheme is that the damaged ship time domain motion model is constructed based on a ship body motion equation with four degrees of freedom of swaying-heaving-swaying-pitching, and the damaged ship time domain motion model is as follows:
wherein the inlet water motion parameters comprise
And Fi WWherein, in the step (A),
representing the component of the inlet water mass in the ith degree of freedom at the tth moment,
representing the component of the influent flow rate in the ith degree of freedom, Fi WRepresenting the restoring force of the inlet water generated in the ith degree of freedom;
m is the hull mass, AijIs shown asContribution of i degrees of freedom to the additional mass of j degrees of freedom, BijRepresenting the contribution of the ith degree of freedom to the damping coefficient of the jth degree of freedom, Fi FK+HRepresenting the Froude-Krylov force and the hydrostatic force components in the ith degree of freedom, Fi DFRepresenting a component of the diffraction force in the ith degree of freedom; the parameter i, j belongs to {2,3,4,5}, the 2 nd degree of freedom represents the direction of sway, the 3 rd degree of freedom is the direction of heave, the 4 th degree of freedom is the direction of roll, and the 5 th degree of freedom is the direction of pitch; x is the number of2Which is indicative of the displacement of the swaying motion,
which is indicative of the rate of the swaying,
representing the yaw acceleration, x3Which is indicative of the displacement of the heave,
which is indicative of the rate of heave,
represents heave acceleration; phi denotes the roll angle in the horizontal direction,
the rate of roll is indicated in terms of,
represents roll acceleration, theta represents pitch angle,
the rate of pitch is expressed in terms of,
represents pitch acceleration; i isxxRepresenting roll moment of inertia, IyyRepresents the pitch moment of inertia; n is a radical of1Linear term roll damping coefficient, N, representing a damaged hull2The square term roll damping coefficient of a damaged hull is shown.
The further technical scheme is that a plurality of mutually independent target wave sea states are determined according to a service scene, and the method comprises the following steps:
determining alternative wave sea conditions under the conditions of cross waves and zero navigational speed;
determining a target wave period range according to the inherent period of the damaged ship and a service scene;
and selecting the wave sea state with the wave period within the target wave period range from the alternative wave sea states as the target wave sea state.
The further technical scheme is that the self-correlation analysis is carried out on the wave time sequence of each target wave sea state to determine the corresponding effective simulation duration, and the method comprises the following steps of:
carrying out autocorrelation analysis on the wave time sequence of the target wave sea state to determine the unrepeated duration of the waves;
and determining the effective simulation time length corresponding to the sea state of the target wave as the minimum value between the non-repeating time length of the wave and a preset threshold value.
The further technical scheme is that the rolling angle amplitude under the target wave sea condition is the average value of the maximum values of the rolling amplitudes obtained by numerical simulation of the target wave sea condition.
The further technical proposal is that the times of carrying out numerical simulation on the sea condition of the target waves according to the preset total simulation duration are
TmaxFor a predetermined total analog duration, tsimFor the effective simulation duration corresponding to the target wave sea state, the function int () represents rounding down.
The further technical scheme is that the effective simulation time lengths corresponding to different target wave sea states are the same or different.
The further technical scheme is that the overturning angle threshold value is the minimum value of a preset maximum angle, a GZ curve stability vanishing angle in still water and a corresponding roll angle of a non-watertight water inlet in still water in a damaged state, and the minimum value of the GZ curve stability vanishing angle in still water and the corresponding roll angle of the non-watertight water inlet in still water in the damaged state is determined according to main parameters of a damaged ship respectively.
The further technical scheme is that the preset maximum angle is 40 degrees.
The beneficial technical effects of the invention are as follows:
compared with a calculation method for evaluating all relevant sea conditions, wave directions, navigational speeds and load conditions in traditional probability calculation, the method for evaluating the unstable motion of the damaged ship selects the wave sea conditions according to the service scene to evaluate, can fully consider the most dangerous state of the damaged ship in the waves, can fully reduce the simulation times aiming at a single sea condition, and can ensure the independence among stable failure events. Compared with a time domain motion calculation method based on a single degree of freedom, the method adopts a multi-degree of freedom calculation method of mutual coupling of swaying-heaving-swaying-pitching, and can calculate the motion characteristics of the damaged ship more accurately. The method has the advantages of both precision and efficiency, and is very suitable for evaluating the instability characteristic of damaged ships in waves.
Drawings
Fig. 1 is a flowchart of a damaged vessel destabilizing motion assessment method disclosed in the present application.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses a high-efficiency damaged ship instability motion assessment method, please refer to a flow chart shown in fig. 1, and the method comprises the following steps:
step 1, taking the fluid motion at the damaged port of the damaged ship and the motion of the damaged ship as an integral construction to obtain a damaged ship time domain motion model.
On the basis of the damaged ship time domain motion model hull motion equation, the water inlet motion parameters at the damaged position including the water inlet quality, the water inlet flow rate and the restoring force generated by water inlet are also considered in real time, and further, if the hull motion equation is a multi-degree-of-freedom motion equation, each water inlet motion parameter respectively comprises the components of the water inlet motion parameter on each degree of freedom.
In order to more accurately calculate the motion characteristics of the damaged ship, a multi-degree-of-freedom calculation mode is adopted, specifically, a damaged ship time domain motion model is constructed on the basis of a ship motion equation with four degrees of freedom of swaying, heaving, swaying and pitching, and the constructed damaged ship time domain motion model is as follows:
wherein the inlet water motion parameters comprise
And Fi WWherein, in the step (A),
representing the component of the inlet water mass in the ith degree of freedom at the tth moment,
representing the component of the influent flow rate in the ith degree of freedom, Fi WIndicating the restoring force of the incoming water in the ith degree of freedom.
Other parameters are original parameters in the motion equation of the ship body, wherein m is the mass of the ship body, and AijRepresenting the contribution of the ith degree of freedom to the additional mass of the jth degree of freedom, BijRepresenting the contribution of the ith degree of freedom to the damping coefficient of the jth degree of freedom, Fi FK+HRepresenting the Froude-Krylov force and the hydrostatic force components in the ith degree of freedom, Fi DFRepresenting the component of the diffraction force in the ith degree of freedom. The parameter i, j ∈ {2,3,4,5}, the 2 nd degree of freedom represents the sway direction, the 3 rd degree of freedom is the sway direction, the 4 th degree of freedom is the roll direction, and the 5 th degree of freedom is the pitch direction. x is the number of2Which is indicative of the displacement of the swaying motion,
which is indicative of the rate of the swaying,
representing the yaw acceleration. x is the number of3Which is indicative of the displacement of the heave,
which is indicative of the rate of heave,
indicating heave acceleration. Phi denotes the roll angle in the horizontal direction,
the rate of roll is indicated in terms of,
the roll acceleration is indicated. Theta represents the pitch angle in the sense that,
the rate of pitch is expressed in terms of,
representing pitch acceleration. I isxxRepresenting roll moment of inertia, IyyRepresenting the pitch moment of inertia. N is a radical of1Linear term roll damping coefficient, N, representing a damaged hull2The square term roll damping coefficient of a damaged hull is shown.
And 2, determining a plurality of mutually independent target wave sea states according to the service scene. The service scene is configured in a self-defined manner according to actual conditions, for example, the state that a damaged ship is most dangerous in waves can be determined as the service scene. Specifically, in the method, the alternative wave sea conditions under the conditions of cross waves and zero navigational speed are determined firstly, then the target wave period range is determined according to the inherent period of the ship with the damaged ship and the service scene, and then the wave sea condition of which the wave period is within the target wave period range is selected from the alternative wave sea conditions to serve as the target wave sea condition, so that the target wave sea condition which accords with the service scene is screened out.
The candidate wave sea conditions at cross-wave and zero speed conditions may be considered to be industry-wide statistical data, such as the determined candidate wave sea conditions at cross-wave and zero speed conditions as shown in the following table:
| TZ(s) | 4.5 | 5.5 | 6.5 | 7.5 | 8.5 | 9.5 | 10.5 | 11.5 | 12.5 | 13.5 | 14.5 | 15.5 |
| HS(m) | 2.0 | 4.4 | 6.9 | 9.1 | 10.9 | 12.1 | 12.8 | 13.1 | 13.0 | 12.5 | 11.3 | 9.0 |
alternative wave sea states include TZ12 wave sea states in the range of 4.5 s-15.5 s and spaced 1s apart (wave period), each wave sea state having a corresponding TZ(wave period) and HS(sense wave height).
Determining from a business scenario
Within the range of 0.7-1.3, the ship natural period T of the damaged ship is assumedrAnd the wave period is 13.9s, the target wave period range corresponding to the obtained service scene can be determined to be 10.5 s-15.5 s, and 6 wave sea states with the wave period within the range of 10.5 s-15.5 s are screened out from 12 alternative wave sea states to serve as the target wave sea state.
And 3, carrying out numerical simulation based on a damaged ship time domain motion model according to each target wave sea state to obtain a wave time sequence of each target wave sea state.
Specifically, for each target wave sea state, the main parameters of the damaged ship, the geometric profile of the hull and the target wave sea state are input into a time-domain motion model of the damaged ship to carry out numerical simulation, and then the wave time sequence of the target wave sea state can be obtained. The main parameters and the geometric molded lines of the hull of the damaged ship can be obtained by direct query and determination according to design drawings and the like, and the specific method for obtaining the wave time sequence by utilizing the parameter information of the damaged ship and the numerical simulation of the target wave sea state under the motion model is a common technology in the field and can be realized in different modes, and the detailed description is omitted in the application. Meanwhile, when the numerical simulation is carried out in the step, the target is obtainedBesides the wave time sequence of the wave sea state, the swaying displacement x can be obtained2Heave displacement x3Pitch angle theta and roll angle phi, but these parameters directly obtained at this step may not be accurate and therefore may not be processed at this step.
Step 4, carrying out autocorrelation analysis on the wave time sequence of each target wave sea state to determine corresponding effective simulation duration tsim. Effective simulation duration t corresponding to different target wave sea statessimThe same or different. Determining the effective simulation time t of each target wave sea statesimThen, the autocorrelation analysis is carried out on the wave time sequence of the sea state of the target wave to determine the non-repeat time length T of the waveselfThen determining the effective simulation time length t corresponding to the target wave sea statesimFor non-repeating time duration T of wavesselfWith a predetermined threshold value T0Minimum value in between, i.e. tsim＝min(T0,Tself) Wherein a predetermined threshold value T is0Can be customized, and is generally less than the required preset total simulation time length TmaxE.g. the application usually sets the predetermined threshold T0Was 3 hours.
Step 5, according to the preset total simulation time length TmaxCarrying out a plurality of times value simulation on each target wave sea condition based on the damaged ship time domain motion model to obtain a rolling angle amplitude value under the target wave sea condition, wherein the time length of each time numerical simulation of the target wave sea condition is corresponding effective simulation time length tsim。
Predetermined total analog duration TmaxThe method can be customized, can be set according to actual needs, and can be used for setting the preset total simulation time T corresponding to different target wave sea states within at least 15 hoursmaxAre generally equal, e.g. the application usually sets the predetermined total simulation duration TmaxIt was 15 hours.
For each target wave sea state, the number n of times it has been subjected to numerical simulation is determined according to a predetermined total simulation duration TmaxAnd a corresponding effective simulation duration t for each simulationsimIt is determined that,
the function int () represents a round down.
When carrying out numerical simulation each time, similar to step 3, the main parameters of the damaged ship and the effective simulation duration t of the target wave sea statesimInputting the random wave sequence into a damaged ship time domain motion model to carry out numerical simulation, thereby obtaining the swaying displacement x2Time curve, heave displacement x3The method for obtaining the maximum value of the rolling amplitude value by solving the history curve at the rolling angle phi is a common method in the field, and is not repeated in the application.
And then, obtaining the rolling angle amplitude under the target wave sea condition according to the maximum value of the rolling amplitude obtained by the n times value simulation, wherein the rolling angle amplitude under the target wave sea condition is the average value of the maximum values of the rolling amplitudes obtained by the respective numerical simulation of the target wave sea condition in the application.
In step 3, the target wave sea state is directly processed in the full time domain or in the preset total simulation time length TmaxThe simulation is performed internally, but the actual target wave sea state may be at a predetermined total simulation duration TmaxNot always effective to vessel motion, e.g. when predetermined total simulation duration TmaxAt 15 hours, the target wave sea state may be repeated after 2 hours, and the simulation result after 2 hours is not valid data, so the application does not obtain x obtained in step 32、x3Theta and phi are solved directly. And in this step, the whole predetermined total simulation time period T is completedmaxAnd (4) performing segmented simulation solving, wherein each simulation is carried out within the effective simulation duration, so that the result obtained by each simulation belongs to effective data, and the effectiveness of the amplitude of the rolling angle obtained by synthesis is higher.
For each target wave sea state, the corresponding roll angle amplitude may be obtained by the above method, for example, in the above example, after 6 target wave sea states are determined, 6 roll angle amplitudes may be obtained accordingly.
And 6, if the rolling angle amplitude under each target wave sea condition is smaller than the overturning angle threshold value, determining that the damaged ship is not unstable, and otherwise, determining that the damaged ship is unstable.
In the application, the overturning angle threshold value is the minimum value of a preset maximum angle, a GZ curve stability vanishing angle in static water under a damaged state and a corresponding roll angle of a nonwatertight water inlet in the static water. The preset maximum angle is a set value, for example, an empirical value, and the minimum value of the GZ curve stability vanishing angle in still water and the corresponding roll angle of the nonwatertight water inlet in still water in the damaged state is determined according to the main parameters of the damaged ship. In the present application, the predetermined maximum angle is set to 40 degrees. In one example, assuming that the stationarity vanishing angle determined according to the main parameters of the damaged ship is 19 degrees and is the minimum value of the stationarity vanishing angle and the stationarity vanishing angle, the overturning angle threshold is determined to be 19 degrees, when the determined 6 rolling angle amplitudes are all smaller than 19 degrees, the damaged ship is determined not to be unstable, otherwise, the damaged ship is determined to be unstable.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (10)
1. An efficient damaged ship destabilizing motion assessment method is characterized by comprising the following steps:
taking the fluid motion at the damaged port of the damaged ship and the motion of the damaged ship as an integral construction to obtain a damaged ship time-domain motion model, wherein the damaged ship time-domain motion model further comprises a water inlet motion parameter at the damaged port on the basis of a ship body motion equation;
determining a plurality of mutually independent target wave sea conditions according to a service scene, and carrying out numerical simulation based on the time domain motion model of the damaged ship according to each target wave sea condition to obtain a wave time sequence of each target wave sea condition;
carrying out autocorrelation analysis on the wave time sequence of each target wave sea state to determine corresponding effective simulation duration;
carrying out numerical simulation on each target wave sea condition for a plurality of times based on the damaged ship time domain motion model according to a preset total simulation duration to obtain a rolling angle amplitude value under the target wave sea condition, wherein the duration of each numerical simulation on the target wave sea condition is a corresponding effective simulation duration;
and if the rolling angle amplitude under each target wave sea condition is smaller than the overturning angle threshold value, determining that the damaged ship is not unstable, otherwise, determining that the damaged ship is unstable.
2. The method of claim 1, wherein the damaged vessel time domain motion model further considers in real time intake motion parameters at the damaged port including intake water quality, intake water flow rate, and a restoring force generated by the intake water based on hull motion equations.
3. The method of claim 2, wherein the damaged vessel time-domain motion model is constructed based on a four-degree-of-freedom hull motion equation of yaw-heave-roll-pitch, and the damaged vessel time-domain motion model is:
wherein the water inlet motion parameters comprise
And Fi WWherein, in the step (A),
representing the component of the inlet water mass in the ith degree of freedom at the tth moment,
representing the component of the influent flow rate in the ith degree of freedom, Fi WRepresenting the restoring force of the inlet water generated in the ith degree of freedom;
m is the hull mass, AijRepresenting the contribution of the ith degree of freedom to the additional mass of the jth degree of freedom, BijRepresenting the contribution of the ith degree of freedom to the damping coefficient of the jth degree of freedom, Fi FK+HRepresenting the Froude-Krylov force and the hydrostatic force components in the ith degree of freedom, Fi DFRepresenting a component of the diffraction force in the ith degree of freedom; the parameter i, j belongs to {2,3,4,5}, the 2 nd degree of freedom represents the direction of sway, the 3 rd degree of freedom is the direction of heave, the 4 th degree of freedom is the direction of roll, and the 5 th degree of freedom is the direction of pitch; x is the number of2Which is indicative of the displacement of the swaying motion,
which is indicative of the rate of the swaying,
representing the yaw acceleration, x3Which is indicative of the displacement of the heave,
which is indicative of the rate of heave,
represents heave acceleration; phi denotes the roll angle in the horizontal direction,
the rate of roll is indicated in terms of,
represents roll acceleration, theta represents pitch angle,
the rate of pitch is expressed in terms of,
represents pitch acceleration; i isxxRepresenting roll moment of inertia, IyyRepresents the pitch moment of inertia; n is a radical of1Linear term roll damping coefficient, N, representing the damaged hull2The square term roll damping coefficient of the damaged hull is represented.
4. The method according to any one of claims 1-3, wherein said determining several mutually independent target wave sea states according to the service scenario comprises:
determining alternative wave sea conditions under the conditions of cross waves and zero navigational speed;
determining a target wave period range according to the ship inherent period of the damaged ship and the service scene;
selecting, as the target wave sea state, a wave sea state having a wave period within the target wave period range from the candidate wave sea states.
5. The method according to any one of claims 1-3, wherein said auto-correlating the wave time series for each of said target wave sea states to determine a corresponding effective simulation time duration comprises, for each of said target wave sea states:
carrying out autocorrelation analysis on the wave time sequence of the target wave sea state to determine the non-repeat duration of the waves;
and determining the effective simulation time length corresponding to the target wave sea state as the minimum value between the wave non-repetition time length and a preset threshold value.
6. A method according to any one of claims 1-3, wherein the roll angle amplitude at the target wave sea state is the average of the maximum values of the roll amplitudes obtained from the respective numerical simulations of the target wave sea state.
7. The method of any one of claims 1 to 3, wherein the root is a rootThe frequency of carrying out numerical simulation on the target wave sea condition according to the preset total simulation duration is
TmaxFor said predetermined total simulation duration, tsimFor the effective simulation duration corresponding to the target wave sea state, the function int () represents rounding down.
8. A method according to any one of claims 1 to 3, wherein the effective simulation durations are the same or different for different target wave sea states.
9. The method according to any one of claims 1 to 3, wherein the overturning angle threshold is a predetermined maximum angle, and the minimum value of the GZ curve stability vanishing angle in still water in a damaged state and the corresponding roll angle of the nonwatertight water inlet in still water in a damaged state is determined according to the main parameters of the damaged vessel respectively.
10. The method of claim 9, wherein the predetermined maximum angle is 40 degrees.
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