CN104298124A - Multi-tug cooperative open caisson floating transportation manipulation simulation control method - Google Patents

Abstract

The invention discloses a multi-tug cooperative open caisson floating transportation manipulation simulation control method. The method is in allusion to that scale parameters of a pipe section are very special, the floating transportation process is affected by multiple factors such as channel conditions, the floating transportation distance, the hydrology, the meteorology and the like, and difficulties of heavy water transportation and cooperative towing of multiple tugs are required to be overcome at the same time. According to the invention, the whole process of immersed pipe floating transportation manipulated and towed in a cooperative mode by six tugs under different wind, wave and flow sea conditions is simulated through continuously changing the towing power and the position of the tugs, stress analysis is carried out on the towing force for the immersed pipe every time when the position of the immersed pipe is changed, the manipulating modes of different tugs are adjusted, the single and total tug stresses and a resultant force received by the immersed pipe are calculated, moving postures of the immersed pipe are displayed in an immersed pipe floating transportation towing system, and curves of the cycle time, the track belt width, the tug service power and the like are acquired. The method disclosed by the invention can realize selection and tests for channels, steering areas, foundation trench towing modes and turning modes of each tug, evaluates the controllability, gives an advice on the size of a steering water area and the towing cable length, and judges whether configuration of the tugs is reasonable or not.

Description

A kind of many tugboat cooperation open caisson transportation by drivings handle simulation control method

Technical field

The present invention relates to immersed tube transportation by driving emulation control method, be specifically related to a kind of many tugboat cooperation open caisson transportation by drivings and handle simulation control method.

Background technology

Immersed tube tunnel is the important component part of nowadays transportation network, and immersed tube transportation by driving is a key link of whole Hydraulic Engineering.Immersed tube transportation by driving time span is long, technical requirement is high, supervision difficulty is large, and being that bridge builds most critical, most crucial link, is a Super Engineering.The scale parameter of tube coupling self is very special, transportation by driving process is by various factors such as Channel Condition, transportation by driving distance, the hydrology and meteorologies, need to overcome the difficulty of busy and many common towages of tugboat of waterborne traffic, any stranded or collision all can bring destructive consequence simultaneously.Tube coupling enormous size, the features such as streamlined difference, is subject to water currents, and self is unpowered, the collaborative manipulation of many tugboats, make tube coupling manipulate difficulty large; Long pull, complicated sea situation environment, busy waterborne traffic, fragile mixed clay structure, the adverse condition such as channel span restriction and shallow water area, make safety guarantee difficulty large; Hydrometeorology condition, traffic control time, engineering construction time limit all strictly limit the transportation by driving time, tube coupling floating must be completed in the limited time, undock, towage, mooring, sinking, the operation such as docking, make transportation by driving time requirement high.

Therefore require that many tugboats cube transportation that cooperates needs under more ripe condition, to carry out test of many times could obtain good transportation by driving effect, emulate manipulate be exactly a kind ofly not only to have saved time, cost-saving, but also the method for high efficient and reliable.At present domestic and international to cube transportation in navigation channel, the research that turns to many tugboats cooperations of transportation by driving in district, foundation trench to handle emulation is less.

Summary of the invention

The present invention is directed to the deficiency existing for prior art, and provide a kind of many tugboat cooperation open caisson transportation by drivings to handle simulation control method, the method can realize each tugboat in navigation channel, turn to district, foundation trench traction mode and steering mode select and test, to handling evaluation, to turning to waters yardstick and the suggestion of towing cable length; And judge whether tugboat configuration is reasonable.

In order to achieve the above object, the present invention adopts following technical scheme

Many tugboat cooperation open caisson transportation by drivings handle simulation control method, and the method comprises the steps:

1. the cooperation of tugboat more than open caisson transportation by driving handles a simulation control method, it is characterized in that handling many tugboat cooperation traction immersed tube to destination process by emulation, obtains good tugboat allocation plan.The method comprises the steps:

(1) immersed tube tube coupling parameter is set, wind speed and direction is set, flow rate and direction, the parameters such as tugboat quantity, position gear and initial traction angle are set;

(2) immersed tube displacement and attitude angle often change once, just carry out once force-bearing analysis to many tugboat cooperation manipulations, and dragging wheel combination force data is shown in tugboat traction system;

(3) to external force analysis suffered by immersed tube tube coupling, calculate vertical and horizontal displacement and attitude angle, generate immersed tube tube coupling maneuvering and control trajectory diagram.

In preferred embodiment of the present invention, in described step (2), tube coupling comprises the steps: by external force analysis

(2.1) airscrew thrust and torque calculation;

(2.2) rudder power and Calculating Torque during Rotary;

(2.3) single tugboat active force and Calculating Torque during Rotary;

(2.4) dragging wheel combination is made a concerted effort and Calculating Torque during Rotary;

In preferred embodiment of the present invention, described step (3) comprises the steps:

(3.1) the immersed tube tube coupling inertia hydrodynamic force of tube coupling and Calculating Torque during Rotary;

(3.2) total moment of inertia is obtained;

(3.3) viscous hydrodynamics and Calculating Torque during Rotary;

(3.4) wind interfering edge and Calculating Torque during Rotary;

Further, described step (3.1) is by following formulae discovery:

$\left.\begin{array}{c}\frac{m_x}{m}=\frac{1}{100}[0.398+11.97C_b(1+3.73\frac{d}{B})-2.89C_b\frac{L}{B}(1+1.13\frac{d}{B})\\ +0.175C_b\left(\frac{L}{B}\right)2(1+0.541\frac{d}{B})-\mathrm{1.1.07}\frac{L}{B}\frac{d}{B}]\\ \frac{m_y}{m}=0.882-0.54C_b(1-1.6\frac{d}{B})-0.156\frac{L}{B}(1-0.673C_b)\\ +0.826\frac{d}{B}\frac{L}{B}(1-0.678\frac{d}{B})-0.638C_b\frac{d}{B}\frac{L}{B}(1-0.669\frac{d}{B}\frac{L}{B})\\ \frac{J_{\mathrm{zz}}}{L^2}=\frac{m}{{100}^2}[33-76.85C_b(1-0.784C_b)+3.43(1-0.63C_b){]}^2\end{array}\right\}---\left(3\right)$

In formula:

The length of L---tube coupling;

B---tube coupling wide;

D---tube coupling absorbs water;

M---tube coupling quality;

C _b---block coefficient is originally in ship type factor, and block coefficient got by tube coupling reference full formed ship oceangoing ship is about 0.935.

Further, the parameter such as moment of inertia of tube coupling obtains by experiment in described step (3.2).

Further, described step (3.3), by carrying out data regression to model experiment results, is found out the relation between hydrodynamic force derivatives and hull (buoyancy aid) design parameter, and is provided approximate estimation formula.In the process of research cube transportation, consider constant speed domain model and low speed domain model.Your island model little drift angle adopts, and large drift angle adopts fragrant village model, and the method that the present invention adopts two kinds of models to combine calculates viscous force.

Further, described step (3.4) is by following formulae discovery:

$\left.\begin{array}{c}{X}_w=0.5{\mathrm{\ρ}}_a{A}_f{V_a}^2{C}_{\mathrm{wx}}\left({\mathrm{\α}}_R\right)\\ Y_w=0.5{\mathrm{\ρ}}_a{A}_s{V_a}^2{C}_{\mathrm{wy}}\left({\mathrm{\α}}_R\right)\\ N_w=0.5{\mathrm{\ρ}}_a{A}_s{V_a}^2{C}_{\mathrm{wn}}\left({\mathrm{\α}}_R\right)\end{array}\right\}---\left(4\right)$

In formula:

V _a---wind speed;

ρ _a---atmospheric density;

A _f---the above tube coupling frontal projected area of waterline;

A _s---waterline above tube coupling lateral projection area;

C _wx(α _r)---Longitudinal Wind pressure coefficient;

C _wy(α _r)---beam wind pressure coefficient;

C _wn(α _r)---around the moment of wind pressure coefficient of Z axis,

Based on such scheme, the overall process of the present invention's image, dynamically reproduction many tugboat cooperations immersed tube transportation by driving maneuvering and control.According to simulation result, tugboat quantity can be judged very fast and in navigation channel, turn to district, foundation trench traction mode and steering mode selection and arrangement whether reasonable, being convenient to manipulation personnel and carrying out objective evaluation to handling, advising to turning to waters yardstick and towing cable length.

When the present invention reproduces the overall process of many tugboats cooperation immersed tube transportation by driving maneuvering and control, the corresponding computation model of formation carries out making a concerted effort suffered by force analysis and open caisson to analyze to many tugboat cooperation traction processes.In this, have the following advantages:

1) cube transportation is different from general boats and ships, is also different from single tugboat traction, does not have manipulation curve and the data of specification, revises conventional model, can adapt to the situation of many tugboats cooperation traction.

2) movement velocity of immersed tube transportation by driving process is lower, and the impact by external wind, stream is obvious, considers more comprehensive, more meets with actual conditions.

3) realistic model mainly adopts recursion formula, is convenient to computing machine and realizes, exploitation simulation control subsystem.

Accompanying drawing explanation

The present invention is further illustrated below in conjunction with the drawings and specific embodiments.

Fig. 1 process flow diagram of the present invention

Fig. 2 tugboat is to the action diagram of tube coupling

Fig. 3 is many, and Simulation Control figure is handled in tugboat cooperation

Fig. 4 turns to district's tugboat to be equipped with scheme schematic diagram

Fig. 5 foundation trench navigates by water tugboat left and is equipped with scheme schematic diagram

Embodiment

The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the present invention further.

The present invention simulates six tugboats by the continuous change of tugboat towing tension and position and cooperates under different wind, wave, stream sea situation and handle traction immersed tube transportation by driving overall process, immersed tube position often changes once, just once force-bearing analysis is carried out to immersed tube towing tension, by inertia class hydrodynamic force and Calculating Torque during Rotary formula, additional mass and the added moment of inertia of tube coupling comparatively accurately can be calculated.Wave mainly produces rolling to tube coupling or hangs down to swinging and waits impact, remote effect tube coupling ship trajectory, adopts the mode of correction factor to revise model, thus the unrestrained impact on tube coupling maneuvering motion performance of reflection.When calculating viscous hydrodynamics and moment, due to resistance to water-flow coefficients such as direct route resistance coefficient, longitudinal cross-couplings resistance coefficient, lateral cross coupling resistance coefficients, usually need to obtain by experiment, when lacking experimental data, use for reference the close unpowered boats and ships of yardstick or marine structure data, determine the span of relevant parameter.

Based on above-mentioned principle, the corresponding computation model that the present invention is formed, it is implemented as follows (as shown in Figure 1)

(1) pre-entered of corresponding data

The data inputted in this step comprise immersed tube tube coupling parameter, wind speed and direction, flow rate and direction, tugboat quantity and traction position, the parameters such as tugboat gear and initial traction angle.

(2) obtain single tugboat stress data, adjustment tugboat horsepower, simulate the emulation of many tugboats cooperation traction immersed tube transportation by driving and handle overall process, calculate many tugboats and close force and moment.

(3) to external force analysis suffered by immersed tube tube coupling, calculate vertical and horizontal displacement and attitude angle, generate immersed tube tube coupling maneuvering and control trajectory diagram.

(2.1) airscrew thrust and torque calculation;

$\left.\begin{array}{c}{X}_p=(1-t_p)T\\ T={\mathrm{\ρn}}^2{D}_P^4{k}_T\left(J_p\right)\\ Q_p={\mathrm{\ρn}}^2{D}_p^5{K}_Q\left(J_p\right)\end{array}\right\}---\left(1\right)$

In formula:

T---oar thrust;

Q _p---screw propeller absorbs torque;

N---engine speed

D _p---oar diameter;

K _t(J _p)---thrust coefficient;

K _q(J _p)---moment coefficient;

T _p---thrust deduction coefficient;

J _p---oar advance coefficient,

(2.2) rudder power and Calculating Torque during Rotary;

$\left.\begin{array}{c}{X}_R=(1-t_R)F_N\sin \mathrm{\δ}\\ Y_R=(1+a_H)F_H\cos \mathrm{\δ}\\ N_R=(x_R+a_H{x}_H)F_N\cos \mathrm{\δ}\end{array}\right\}---\left(2\right)$

In formula:

T _r---rudder power derating coefficient;

F _n---perpendicular to the normal pressure of rudder blade plane;

A _h---the modifying factor of steering induction hull transverse force;

X _r---act on the longitudinal coordinate of the Lateral Force point on rudder;

X _h---steering induction hull Lateral Force center is to the distance at boats and ships center;

δ---rudder angle.

(2.3) single tugboat active force and Calculating Torque during Rotary;

If Full Rotary tugboat is under certain motion state, course angle is the deflection angle of larboard ducted propeller is δ _pthe deflection angle of starboard ducted propeller is δ _s, the thrust that left-and-right spiral oar produces is respectively T _p, T _s.

$\left.\begin{array}{c}{X}_t=T_{\mathrm{px}}+T_{\mathrm{sx}}+X_R\\ Y_t=T_{\mathrm{py}}+T_{\mathrm{sy}}+Y_R\\ N_t=Q_p+N_R\end{array}\right\}---\left(3\right)$

(2.4) dragging wheel combination is made a concerted effort and Calculating Torque during Rotary;

As shown in Figure 2, if No. 1 to No. 6 tugboat is labeled as No. i-th tugboat, then dragging wheel combination make a concerted effort and the computing formula of moment as follows:

$\left.\begin{array}{c}{X}_T=\mathrm{\ΣXi}\\ Y_T=\mathrm{\ΣYi}\\ N_T=\mathrm{\ΣNi}\end{array}\right\}---\left(4\right)$

(3) to external force analysis suffered by immersed tube tube coupling, calculate vertical and horizontal displacement and attitude angle, generate immersed tube tube coupling maneuvering and control trajectory diagram.

Because immersed tube cube transportation is different from general boats and ships, there is no manipulation curve and the data of specification, the difficulty of ship modeling and system emulation is larger, and the control of immersed tube athletic posture has been cooperated by many tugboats, therefore key of the present invention be wind interfering edge suffered by immersed tube tube coupling and moment, the making a concerted effort of the hydrodynamic force of tube coupling and moment and towboat active force and moment.

(3.1) the immersed tube tube coupling inertia hydrodynamic force of tube coupling and Calculating Torque during Rotary;

To the estimation of tube coupling additional mass and added moment of inertia, current test method has impulse test, oscillation experiment and planar motion mechanism test (PMM), and the present invention calculates the estimation equation that immersed tube tube coupling inertia hydrodynamic(al) force and moment adopts Zhou Zhaoming:

$\left.\begin{array}{c}\frac{m_x}{m}=\frac{1}{100}[0.398+11.97C_b(1+3.73\frac{d}{B})-2.89C_b\frac{L}{B}(1+1.13\frac{d}{B})\\ +0.175C_b\left(\frac{L}{B}\right)2(1+0.541\frac{d}{B})-\mathrm{1.1.07}\frac{L}{B}\frac{d}{B}]\\ \frac{m_y}{m}=0.882-0.54C_b(1-1.6\frac{d}{B})-0.156\frac{L}{B}(1-0.673C_b)\\ +0.826\frac{d}{B}\frac{L}{B}(1-0.678\frac{d}{B})-0.638C_b\frac{d}{B}\frac{L}{B}(1-0.669\frac{d}{B}\frac{L}{B})\\ \frac{J_{\mathrm{zz}}}{L^2}=\frac{m}{{100}^2}[33-76.85C_b(1-0.784C_b)+3.43(1-0.63C_b){]}^2\end{array}\right\}---\left(5\right)$

In formula:

The length of L---tube coupling;

B---tube coupling wide;

D---tube coupling absorbs water;

C _b---block coefficient is originally in ship type factor, and block coefficient got by tube coupling reference full formed ship oceangoing ship is about 0.935.

Concept according to the shallow water that the scholars such as Ba Xin propose: is under normal circumstances shallow water when depth of water drinking water is less than 3 than (h/d).The kinetic characteristic of tube coupling in shallow water to be met to additional mass and added moment of inertia revised in conjunction with preferred embodiment of the present invention.

(3.2) total moment of inertia is obtained;

Tube coupling provides power by tugboat, and when grasping tugboat performance in detail, the parameters such as the moment of inertia of tube coupling obtain by experiment, is decomposed can calculate the motor imagination of tube coupling to tugboat comparatively accurately by dynamics.

(3.3) viscous hydrodynamics and Calculating Torque during Rotary

Viscous hydrodynamics and Calculating Torque during Rotary consider constant speed domain model and low speed domain model.Your island model little drift angle adopts, and large drift angle adopts fragrant village model, and the method adopting two kinds of models to combine calculates viscous force.Data regression is carried out to model experiment results, finds out the relation between hydrodynamic force derivatives and hull (buoyancy aid) design parameter, and provide approximate estimation formula.

Your island model improved

$\left.\begin{array}{c}{X}_H=X\left(u\right)+X_{\mathrm{vv}}{v}^2+X_{\mathrm{vr}}\mathrm{vr}+X_{\mathrm{rr}}{r}^2\\ Y_H=Y_{v}v+Y_{r}r+Y_{\mathrm{vv}}\left|v\right|v+Y_{\mathrm{rr}}\left|r\right|r+Y_{\mathrm{vvr}}{v}^{2}r+Y_{\mathrm{vrr}}{\mathrm{vr}}^2\\ N_H=N_{v}v+N_{r}r+N_{\mathrm{vv}}\left|v\right|v+N_{\mathrm{vvr}}{v}^{2}r+N_{\mathrm{vrr}}{\mathrm{vr}}^2\end{array}\right\}---\left(3.8\right)$

In formula:

X (u)---tube coupling direct route resistance;

X _vvv ², X _vrvr, X _rrr ²---the cross-couplings resistance items of tube coupling longitudinal direction;

Y _vv, Y _rr, N _vv, N _rr---the linear hydrodynamic transverse force of tube coupling and moment;

Y _vv| v|v, Y _rr| r|r, Y _vvrv ²r, N _vv| v|v, N _vvrv ²r, N _vrrvr ²---the cross-couplings resistance items of tube coupling transverse direction.

1) sail through to resistance to ask for

Direct route resistance coefficient X ' _uufor:

$X_{\mathrm{uu}}^{\′}=-\frac{S}{{\mathrm{Ld}}_m}{C}_t---\left(6\right)$

In formula: S---tube coupling Area of Wetted Surface;

D _m---Mean Draught.

C _t---tube coupling total drag coefficients;

C _t＝ΔC+C _r+C _f

(in formula: Δ C---roughness subsidy coefficient;

C _r---RRF;

C _f---coefficient of frictional resistance, adopts ITTC-57 formula.)

2) the asking for of cross-couplings resistance items coefficient of tube coupling longitudinal direction

The raw regression formula provided of poplar salt is adopted to obtain X ' _vrshallow-water correction:

$\frac{X_{\mathrm{vr}}^{\′}}{X_{\mathrm{vr}\∞}^{\′}}=1-0.9879\frac{d}{h}+21.9123{\left(\frac{d}{h}\right)}^2-73.8161{\left(\frac{d}{h}\right)}^3+71.1409{\left(\frac{d}{h}\right)}^4---\left(7\right)$

3) the asking for of linear water power and moment coefficient

$\left.\begin{array}{c}{Y}_v^{\′}=-(\frac{\mathrm{\π}}{2}\mathrm{\λ}+1.4C_b\frac{B}{L})(1+(25C_b\frac{B}{L}-2.25){\mathrm{\τ}}^{\′})\\ Y_r^{\′}=((m^{\′}+m_x^{\′})-1.5C_b\frac{B}{L})(1+(571{\left(\frac{d_m(1-C_b)}{b}\right)}^2+81\frac{d_m(1-C_b)}{B}+2.1){\mathrm{\τ}}^{\′})\\ N_v^{\′}=-\mathrm{\λ}(1-{\mathrm{\τ}}^{\′})\\ N_r^{\′}=-(0.54\mathrm{\λ}-{\mathrm{\λ}}^2)(1+(34C_b\frac{B}{L}-3.4){\mathrm{\τ}}^{\′})\end{array}\right\}---\left(8\right)$

In formula:

λ---be defined as aspect ratio in boats and ships, in tube coupling, can λ=2d be defined as _m/ L;

τ---trim;

The trim of τ '---nondimensionalization.

For Y _v', Y _r', N _v', N _r' shallow water effect by f (d/h)=1/ (1-d/h) ⁿ-d/h revises, and chooses the estimation equation of different n depending on different object.

4) the asking for of cross-couplings resistance items coefficient of tube coupling transverse direction

$\left.\begin{array}{c}{N}_w^{\′}=(0.96(1-C_b)\frac{d_m}{B}-0.066)(1+(58(1-C_b)\frac{d_m}{B}-5){\mathrm{\τ}}^{\′})\\ N_{\mathrm{rr}}^{\′}=(0.5C_b\frac{B}{L}-0.09)(1-(30C_b\frac{B}{L}-2.6){\mathrm{\τ}}^{\′})\\ N_{\mathrm{vrr}}^{\′}=(0.5C_b\frac{B}{L}-0.05)(1+(48{\left(C_b\frac{B}{L}\right)}^2-16\left(C_b\frac{B}{L}\right)+1.3)\×{10}^2{\mathrm{\τ}}^{\′})\\ N_{\mathrm{vvr}}^{\′}=(-57.5{\left(C_b\frac{B}{L}\right)}^2+18.4\left(C_b\frac{B}{L}\right)+18.4\left(C_b\frac{B}{L}\right)-1.6)(1+(3\left(C_b\frac{B}{L}\right)-1){\mathrm{\τ}}^{\′})\end{array}\right\}---\left(9\right)$

For Y ' _rr, Y ' _vvr, N ' _vv, N ' _rr, N ' _vrr, N ' _vvrshallow water effect by f (d/h)=1+a ₁(d/h)+a ₂(d/h) ²+ a ₃(d/h) ³revise, wherein a ₁, a ₂, a ₃different estimation equations is chosen depending on different object.

(3.4) wind interfering edge and Calculating Torque during Rotary

In many tugboat cooperation traction immersed tube transportation by driving overall processes, immersed tube tube coupling freeboard is little, and wind area is little, less by wind effect, and the computation model of wind interfering edge and moment is less on the impact of tube coupling maneuvering motion model accuracy.

Calculate wind interfering edge and moment: $\left.\begin{array}{c}{X}_w=0.5{\mathrm{\ρ}}_a{A}_f{V_a}^2{C}_{\mathrm{wx}}\left({\mathrm{\α}}_R\right)\\ Y_w=0.5{\mathrm{\ρ}}_a{A}_s{V_a}^2{C}_{\mathrm{wy}}\left({\mathrm{\α}}_R\right)\\ N_w=0.5{\mathrm{\ρ}}_a{A}_s{V_a}^2{C}_{\mathrm{wn}}\left({\mathrm{\α}}_R\right)\end{array}\right\}$ $\left(10\right)$

In formula:

V _a---wind speed;

ρ _a---atmospheric density;

A _f---the above tube coupling frontal projected area of waterline;

A _s---waterline above tube coupling lateral projection area;

C _wx(α _r)---Longitudinal Wind pressure coefficient;

C _wy(α _r)---beam wind pressure coefficient;

C _wn(α _r)---around the moment of wind pressure coefficient of Z axis, adopt Isherwood formulae discovery:

$\left.\begin{array}{c}{C}_{\mathrm{wx}}\left({\mathrm{\α}}_R\right)=A_0+A_1\frac{2A_s}{L^2}+A_2\frac{2A_f}{B^2}+A_3\frac{L_{\mathrm{oa}}}{B}+A_4\frac{c}{L}+A_5\frac{e}{L}+A_6\\ C_{\mathrm{wy}}\left({\mathrm{\α}}_R\right)=B_0+B_1\frac{2A_s}{L^2}+B_2\frac{2A_f}{B^2}+B_3\frac{L_{\mathrm{oa}}}{B}+B_4\frac{c}{L}+B_5\frac{e}{L}+B_6\frac{A_{\mathrm{ss}}}{A_s}\\ C_{\mathrm{wn}}\left({\mathrm{\α}}_R\right)=C_0+C_1\frac{2A_s}{L^2}+C_2\frac{2A_f}{B^2}+C_3\frac{L_{\mathrm{oa}}}{B}+C_4\frac{c}{L}+C_5\frac{e}{L}\end{array}\right\}---\left(11\right)$

Based on technique scheme, embody rule example of the present invention is as follows:

This example utilizes and forms corresponding simulation control subsystem according to technique scheme, and apply it in many tugboats Collaborative Control of certain open caisson transportation by driving domestic, reproduce many tugboats Collaborative Control process, and different tugboat allocation plans is analyzed, for reality examination traction provides foundation.

It is below the reproduction analysis to open caisson transportation by driving process.

See Fig. 3, input corresponding data, run this system can complete direct route road, turn to district, raceway zone and foundation trench interiorly various traction transportation by driving mode analyze.This system image simulate tugboat traction open caisson stress, and simulate the motion state of open caisson.

Below (shown in table 1) under the special test operating mode of flow velocity and the flow direction is determined to test in Peak Flow Rate and fluctuation tide direction in direct route road and foundation trench for open caisson, 6 tugboat cooperation traction maneuvering and control simulation analysis.

Call the data of virtual production, a series of many tugboats force analysis chart can be made, and then quantitative test is carried out to tugboat allocation plan, comparatively accurately can calculate the motor imagination of tube coupling to tugboat.

The various operating condition of test table of table 1

Experimental analysis:

By turning to district's simulation test, turn in district's towage process at immersed tube, if distinguished and admirable impact is cancelled out each other or with the wind following current time, 6 tugboats present " rice " font situation of Fig. 4 substantially, and wherein tugboat 1 and tugboat 2 drag forward at full speed, and adjustment course is responsible for by tugboat 3 and tugboat 4, and the angle of each tugboat towing cable and immersed tube axis is compared and is sailed through to road and want large, be beneficial to turning to of immersed tube, tugboat 5 and tugboat 6 are determined on a case-by-case basis turning to district, substantially can.If against the wind, top stream operating mode immersed tube headway slower time, in 6 tugboats, wherein tugboat 1 and tugboat 2 drag forward at full speed, tugboat 3 and tugboat 4 also some power dragged forward in the process in adjustment course, tugboat 5 and tugboat 6 suitably extra bus can carry out pushing tow, to improve the maneuverability of immersed tube.

By foundation trench simulation test, navigate by water in towage process to the right in the foundation trench district of immersed tube, 6 tugboats present as Fig. 5 situation substantially, and wherein tugboat 2 drags forward, and tugboat 4 is toward rear dragging, both control boats and ships and navigate by water left with uniform speed, tugboat 1 is vertical with 3, tugboat to be dragged toward north, and tugboat 5 is vertical with tugboat 6 toward Bei Ding, in order to overcome the impact of beam wind and stream, in case immersed tube processed drifts about southwards, accurately immersed tube is controlled in foundation trench.

Experiment conclusion:

In navigation channel, transportation by driving tugboat (power) configuration rationally, and traction mode is in the main true, effectively can manipulate immersed tube; Immersed tube tunnel cube transportation is horizontal in foundation trench to be dragged, and suffered transverse force is comparatively large, and rationally, traction mode is correct, can guarantee that immersed tube is horizontal in foundation trench and drag manipulation in tugboat (power) configuration; Immersed tube tunnel cube transportation is when turning to district to turn to, and owing to there being certain speed, each tugboat, when selecting towage and steering mode, should be noted the original speed making full use of cube transportation, make its handling easy control, reduces as far as possible to turn to waters yardstick; During transportation by driving in navigation channel, turn to district, foundation trench towing cable length reasonable; Tube coupling in navigation channel, turn to track line during transportation by driving in district, foundation trench to mate with navigation channel; Should note when tube coupling traction mode and manipulation in narrow foundation trench at a slow speed with the impact of waters limited location.

More than show and describe ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.

Claims (7)

1. the cooperation of tugboat more than open caisson transportation by driving handles a simulation control method, it is characterized in that handling many tugboat cooperation traction immersed tube to destination process by emulation, obtains good tugboat allocation plan.The method comprises the steps:

(1) immersed tube tube coupling parameter is set, wind speed and direction is set, flow rate and direction, the parameters such as tugboat quantity, position gear and initial traction angle are set;

(2) immersed tube displacement and attitude angle often change once, just carry out once force-bearing analysis to many tugboat cooperation manipulations, and dragging wheel combination power and moment data are shown in tugboat traction system;

(3) to external force analysis suffered by immersed tube tube coupling, calculate vertical and horizontal displacement and attitude angle, generate immersed tube tube coupling maneuvering and control trajectory diagram.

2. the many tugboat cooperations of the one according to claims 1 open caisson transportation by driving handles simulation control method, and it is characterized in that, in described step (2), dragging wheel combination power and Calculating Torque during Rotary comprise the steps:

(4) airscrew thrust and torque calculation;

(5) rudder power and Calculating Torque during Rotary;

(6) single tugboat active force and Calculating Torque during Rotary;

(7) dragging wheel combination is made a concerted effort and Calculating Torque during Rotary;

3. the many tugboat cooperations of the one according to claims 1 open caisson transportation by driving handles simulation control method, and it is characterized in that, in described step (3), suffered by immersed tube tube coupling, external force comprises the steps:

(8) the immersed tube tube coupling inertia hydrodynamic force of tube coupling and Calculating Torque during Rotary;

(9) total moment of inertia is obtained;

(10) viscous hydrodynamics and Calculating Torque during Rotary;

(11) wind interfering edge and Calculating Torque during Rotary;

4. the many tugboat cooperations of the one according to claims 3 open caisson transportation by driving handles simulation control method, and it is characterized in that, described step (3.1) uses following formulae discovery:

(1)

In formula:

The length of L---tube coupling;

B---tube coupling wide;

D---tube coupling absorbs water;

C _b---block coefficient is in ship type factor, and block coefficient got by tube coupling reference full formed ship oceangoing ship is 0.935 left side

Right.

5. the many tugboat cooperations of the one according to claims 3 open caisson transportation by driving handles simulation control method, and it is characterized in that, the parameters such as the moment of inertia of the tube coupling in described step (9) obtain by experiment.

6. the many tugboat cooperations of the one according to claims 3 open caisson transportation by driving handles simulation control method, it is characterized in that, described step (10) is by carrying out data regression to model experiment results, find out the relation between hydrodynamic force derivatives and immersed tube design parameter, draw approximate estimation formula.

7. the many tugboat cooperations of the one according to claims 3 open caisson transportation by driving handles simulation control method, and it is characterized in that, described step (11) is by following formulae discovery:

In formula:

V _a---wind speed;

ρ _a---atmospheric density;

A _f---the above tube coupling frontal projected area of waterline;

A _s---waterline above tube coupling lateral projection area;

C _wx(α _r)---Longitudinal Wind pressure coefficient;

C _wy(α _r)---beam wind pressure coefficient;

C _wn(α _r)---around the moment of wind pressure coefficient of Z axis.