CN106285511A - A kind of compound disturbance formula riser vortex induced vibration suppression device and method - Google Patents
A kind of compound disturbance formula riser vortex induced vibration suppression device and method Download PDFInfo
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- CN106285511A CN106285511A CN201610850915.0A CN201610850915A CN106285511A CN 106285511 A CN106285511 A CN 106285511A CN 201610850915 A CN201610850915 A CN 201610850915A CN 106285511 A CN106285511 A CN 106285511A
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- 230000001629 suppression Effects 0.000 title claims abstract description 15
- 150000001875 compounds Chemical class 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000000694 effects Effects 0.000 claims abstract description 9
- 230000002401 inhibitory effect Effects 0.000 claims abstract description 5
- 238000000926 separation method Methods 0.000 claims description 4
- 230000000670 limiting effect Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000005764 inhibitory process Effects 0.000 abstract description 5
- 230000006378 damage Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000013535 sea water Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000004215 Carbon black (E152) Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 229930195733 hydrocarbon Natural products 0.000 description 2
- 150000002430 hydrocarbons Chemical class 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002779 inactivation Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/10—Wear protectors; Centralising devices, e.g. stabilisers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15D—FLUID DYNAMICS, i.e. METHODS OR MEANS FOR INFLUENCING THE FLOW OF GASES OR LIQUIDS
- F15D1/00—Influencing flow of fluids
- F15D1/002—Influencing flow of fluids by influencing the boundary layer
- F15D1/0025—Influencing flow of fluids by influencing the boundary layer using passive means, i.e. without external energy supply
- F15D1/003—Influencing flow of fluids by influencing the boundary layer using passive means, i.e. without external energy supply comprising surface features, e.g. indentations or protrusions
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- Engineering & Computer Science (AREA)
- Geology (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The present invention relates to a kind of compound disturbance formula riser vortex induced vibration suppression device and method.Device is welded with the bearing of four S-shaped blades, four support bars and eight rotation oars by upper and lower two and forms.Bearing outer ring outer wall is the most equidistantly welded with four S-shaped blades, and S-shaped blade side thin-walled uniformly has jack.Between the S-shaped blade of upper and lower bearing, assign support bar, every support bar is set with two rotation oars.Eight rotation oars spatially helically rise shape and arrange around standpipe.Under the impact of ocean current, the combination of the multiple spiral inhibitory action such as the present invention can realize the rotation of S-shaped blade, the revolution of different layers position rotation oar is combined with rotation, support bar interference, and support bar placement location all can regulate according to actual marine environment with rotation oar screw arrangement spatially, reach the optimal inhibition effect of vortex-induced vibration.
Description
Technical field
The invention belongs to marine riser facility laying technology field, be specifically related to a kind of compound disturbance formula riser vortex excited vibration
Restraining device and method.
Background technology
Having verified gradually decreasing of petroleum resources along with land, the emphasis of Oil And Gas Exploration And Development is transferred to by China
Deep-sea.Devoting Major Efforts To Developing deep water hydrocarbon resource has highly important strategic importance to China.And develop deep water hydrocarbon, connect seabed
Indispensable with the crucial tie marine riser of platform, institute's christmas is mainly isolated by its function with sea water, it is provided that fortune
Defeated passage.Marine riser is on active service in complicated marine environment, subjects ripple, the effect of stream environment.When ripple, stream pile warp standpipe,
The periodicity active force that it can be produced the perpendicular and parallel flow direction that hangs down, induction marine riser is flowing to and is laterally shaking
Dynamic, it is tired that lasting vibration can make marine riser occur, thus damage inactivation.
Along with the increase of the exploitation depth of water, the length of marine riser is also continuously increased, the vibration exponent number of marine riser and response
Mode is consequently increased.Marine riser is when multi-modal participation vibration, it may occur that the superposition of power and associating fatigue damage.
In the range of some specific flow velocity and mass ratio, it also occur that elliptical vibration, impact and the harm of elliptical vibration are bigger.Once
Standpipe is damaged, and not only results in huge economic loss, also can do great damage marine environment and marine ecology, its
Destroy the impact caused and be even up to half a century or more long.
Existing riser vortex induced vibration suppression device generally exists that inhibition is undesirable, be not suitable with direction change at random
The deficiencies such as water current combining with waves, installation inconvenience and field conduct complex operation.
Summary of the invention
Present invention problem to be solved is the deficiency existed for existing riser vortex induced vibration suppression device and method, carries
, replacing adjustable, easy for installation for a kind of space structure is simply combined disturbance formula riser vortex induced vibration suppression device and method.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of compound disturbance formula riser vortex induced vibration suppression device, by upper and lower two axles being welded with four S-shaped blades
Hold, four support bars and eight rotation oars composition.Bearing is the Internal and external cycle structure that centre sets ball roller, and upper and lower two bearings are pressed
The spacing of one support bar height is sleeved on the outer wall of standpipe.The upper end of upper bearing and the lower end of lower bearing are equipped with one
Retainer ring realizes spacing, and retainer ring is docked clip in standing tube outer wall by two symmetrical semi-circular shape components by bolt.Bearing
Outer ring outer wall is the most equidistantly welded with four S-shaped blades, and the side thin-walled of S-shaped blade is uniformly offered 20 jacks.
The jack openings of upper bearing S-shaped blade is downward, and the jack openings of lower bearing S-shaped blade is upwards.Four couples of S of upper and lower bearing
The equal one_to_one corresponding of shape blade is arranged in parallel.Support bar is ganoid round bar, and four support bars are respectively arranged in upper and lower bearing
Four pairs of S-shaped blades jack between, arrange a support bar, and the axis of support bar and standpipe between i.e. every pair S-shaped blade
Axis parallel.Being set with two rotation oars on every support bar, rotation oar is coaxial with support bar, can rotate around support bar.Each rotation
The upper/lower terminal of oar is provided with limited location snap ring, slides axially limiting it.Limited location snap ring is led to by two symmetrical semi-circular shape components
Cross bolt docking clip in support bar outer wall.Eight rotation oars on four support bars spatially helically rise shape cloth around standpipe
Put.
Described support bar placement location all can determine according to actual marine environment with rotation oar screw arrangement spatially, with
Realize the optimal inhibition effect of vortex-induced vibration.Wherein, support bar placement location can select in the jack of the 20 of S-shaped blade,
Realize the scalable of support bar and standpipe spacing；Four spacing between support bar and standpipe can be different, it is also possible to the same；
Pitch and the spiral number of turns of eight rotation oar spatially screw arrangement all can freely regulate.
Compound disturbance formula riser vortex induced vibration suppression device described in utilization can realize a kind of compound disturbance formula riser vortex
Induced vibration inhibiting method.The standpipe being provided with this device is positioned in sea water, when ocean current impact is at the S of upper and lower two bearings
Time on shape blade, S-shaped blade can be promoted to rotate around standpipe, thus drive support bar and rotation oar to rotate around standpipe, upset standpipe
The Flow Field on surface, destroys and streams coming off and developing of vortex.Meanwhile, ocean current impact rotation oar, rotation oar also can be driven around propping up
Strut rotates, and eight the rotation oars helically rising shape layout around standpipe rotate in different layers position, destroy further and stream border
The development of layer, changes the burble point of boundary region, have impact on coming off and releasing of vortex.It addition, four support bars are around standpipe
Arrange, standpipe Flow Field can be disturbed, upset the separation of boundary region.Oar is revolved in rotation disturbance, the different layers position of S-shaped blade
Revolution and rotation synergism, support bar interference effect under, standpipe stream vortex by multiple-disruption, thus suppression is by vortex
The standpipe vibration excited.
Due to the fact that the above technical scheme of employing, it has the advantage that
1, apparatus of the present invention can realize the rotation of S-shaped blade, the revolution of different layers position rotation oar is combined with rotation, support bar is interfered
Deng the combination of multiple spiral inhibitory action, and support bar placement location all can be according to actual sea with rotation oar screw arrangement spatially
Ocean environment regulation, it is achieved the optimal inhibition effect of vortex-induced vibration；
2, apparatus of the present invention can rotate around standpipe, is adapted to come the marine environment of flow path direction change at random.
Accompanying drawing explanation
Fig. 1 is the structural representation of apparatus of the present invention；
Fig. 2 is apparatus of the present invention bearing and the uniform S-shaped blade schematic diagram of outer wall thereof；
Fig. 3 is that apparatus of the present invention revolve oar schematic diagram；
Fig. 4 is apparatus of the present invention limited location snap ring schematic diagrams；
Fig. 5 is apparatus of the present invention retainer ring schematic diagrams；
Wherein: 1. standpipe；2.S shape blade；3. rotation oar；4. support bar；5. limited location snap ring；6. bearing；7. retainer ring.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, it is embodied as being further described to the present invention:
As it is shown in figure 1, a kind of compound disturbance formula riser vortex induced vibration suppression device, it is welded with four S-shaped by upper and lower two
6, four support bars 4 of the bearing of blade 2 and eight rotation oars 3 form.As in figure 2 it is shown, bearing 6 sets the inside and outside of ball roller for centre
Coil structures, upper and lower two bearings 6 are sleeved on the outer wall of standpipe 1 by the spacing of support bar 4 height.The upper end of upper bearing 6
And the lower end of lower bearing 6 is equipped with a retainer ring 7 and realizes spacing, retainer ring 7 is led to by two symmetrical semi-circular shape components
Cross bolt docking clip in standpipe 1 outer wall, as shown in Figure 1.As in figure 2 it is shown, the outer ring outer wall of bearing 6 is the most equidistantly welded with
Four S-shaped blades 2, the side thin-walled of S-shaped blade 2 is uniformly offered 20 jacks.The jack of upper bearing 6S shape blade 2 is opened
Downwards, the jack openings of lower bearing 6S shape blade 2 is upwards for mouth.The equal one_to_one corresponding of four pairs of S-shaped blades 2 of upper and lower bearing 6 is parallel
Arrange.Support bar 4 is ganoid round bar, and four support bars 4 are respectively arranged four pairs of S-shaped blades 2 in upper and lower bearing 6
Between jack, arrange a support bar 4 between i.e. every pair S-shaped blade 2, and the axis of support bar 4 is parallel with the axis of standpipe 1.
As it is shown in figure 1, be set with two rotation oars 3 on every support bar 4, rotation oar 3 is coaxial with support bar 4, can rotate around support bar 4.As
Shown in Fig. 3, the upper/lower terminal of each rotation oar 3 is provided with limited location snap ring 5, slides axially limiting it.As shown in Figure 4, limited location snap ring
5 are docked clip in support bar 4 outer wall by two symmetrical semi-circular shape components by bolt.Eight rotations on four support bars 4
Oar 3 spatially helically rises shape and arranges, as shown in Figure 1 around standpipe 1.
Described support bar 4 placement location all can determine according to actual marine environment with rotation oar 3 screw arrangement spatially,
To realize the optimal inhibition effect of vortex-induced vibration.Wherein, support bar 4 placement location can select in the jack of the 20 of S-shaped blade 2
Select, it is achieved support bar 4 and the scalable of standpipe 1 spacing；Spacing between four support bars 4 and standpipe 1 can be different, it is possible to
With equally；Pitch and the spiral number of turns of eight rotation oar 3 spatially screw arrangement all can freely regulate.
Compound disturbance formula riser vortex induced vibration suppression device described in utilization can realize a kind of compound disturbance formula riser vortex
Induced vibration inhibiting method.The standpipe 1 being provided with this device is positioned in sea water, when ocean current impacts at upper and lower two bearings 6
Time on S-shaped blade 2, S-shaped blade 2 can be promoted to rotate around standpipe 1, thus drive support bar 4 and rotation oar 3 to rotate around standpipe 1, upset
The Flow Field on standpipe 1 surface, destroys and streams coming off and developing of vortex.Meanwhile, ocean current impact rotation oar 3, also can drive
Rotation oar 3 rotates around support bar 4, and eight the rotation oars 3 helically rising shape layout around standpipe 1 rotate in different layers position, break further
It is broken the development around laminar boundary layer, changes the burble point of boundary region, have impact on coming off and releasing of vortex.It addition, four
Strut 4 is arranged around standpipe 1, can disturb standpipe 1 Flow Field, upsets the separation of boundary region.Rotation at S-shaped blade 2 is disturbed
The revolution of dynamic, different layers position rotation oar 3 and rotation synergism, support bar 4 interference effect under, standpipe 1 stream vortex by many
Heavily destroy, thus the standpipe 1 that suppression is excited by vortex vibrates.
Embodiment:
During actual installation, first it is set with lower bearing 6 at standpipe 1 outer wall, and in the lower end of lower bearing 6 retainer ring 7
Realize axial restraint.According to actual current direction and flow velocity, assign in the suitable jack of four S-shaped blades 2 of lower bearing 6
Four support bars 4.Then on every support bar 4, it is set with two rotation oars 3, and at the upper/lower terminal of each rotation oar 3 with spacing
Snap ring 5 limits it and slides axially.Eight rotation oars 3 on four support bars 4 spatially helically rise shape and arrange around standpipe 1,
Its pitch and spiral coil several border factually ocean current environment determine.Finally, it is set with upper bearing 6 at standpipe 1 outer wall, makes four supports
The upper end of bar 4 is assigned in the jack of corresponding 6 four S-shaped blades 2 of upper bearing, in the upper end of upper bearing 6 retainer ring 7
Realize axial restraint.
The standpipe 1 installing this device is positioned in sea water, ocean current impact on S-shaped blade 2, promote S-shaped blade 2 around
Standpipe 1 rotates, and drives support bar 4 and rotation oar 3 to rotate around standpipe 1, has upset the Flow Field on standpipe 1 surface, destroyed and stream
The coming off and develop of vortex.Meanwhile, ocean current impact rotation oar 3, drive rotation oar 3 to rotate around support bar 4, helically rise around standpipe 1
Eight rotation oars 3 that shape is arranged rotate in different layers position, destroy the development around laminar boundary layer further, change dividing of boundary region
From point, have impact on coming off and releasing of vortex.It addition, four support bars 4 are arranged around standpipe 1, standpipe 1 can be disturbed to stream stream
, upset the separation of boundary region.Revolve revolution and the rotation synergism of oar 3 in rotation disturbance, the different layers position of S-shaped blade 2, prop up
Under the interference effect of strut 4, standpipe 1 stream vortex by multiple-disruption, thus the standpipe 1 that suppression is excited by vortex vibrates.
Claims (2)
1. a compound disturbance formula riser vortex induced vibration suppression device, is characterized in that: be welded with four S-shaped leaves by upper and lower two
The bearing (6) of sheet (2), four support bars (4) and eight rotation oar (3) compositions；Upper and lower two bearings (6) press a support bar (4)
The spacing of height is sleeved on the outer wall of standpipe (1), and the upper end of upper bearing (6) and the lower end of lower bearing (6) are equipped with one
Retainer ring (7) realizes spacing, and retainer ring (7) is docked clip in standpipe (1) by two symmetrical semi-circular shape components by bolt
Outer wall；Bearing (6) outer ring outer wall is the most equidistantly welded with four S-shaped blades (2), on the side thin-walled of S-shaped blade (2) all
Even offer 20 jacks；The jack openings of upper bearing (6) S-shaped blade (2) is downward, lower bearing (6) S-shaped blade (2)
Upwards, four pairs of S-shaped blades (2) of upper and lower bearing (6) all one_to_one corresponding are arranged in parallel jack openings；Support bar (4) is surface light
Sliding round bar, four support bars (4) are respectively arranged between the jack of four pairs of S-shaped blades (2) of upper and lower bearing (6), every couple of S
Arrange a support bar (4) between shape blade (2), and the axis of support bar (4) is parallel with the axis of standpipe (1)；Every support
Being set with two rotation oars (3) on bar (4), rotation oar (3) is coaxial with support bar (4), can rotate around support bar (4)；Each rotation oar (3)
Upper/lower terminal be provided with limited location snap ring (5), slide axially limiting it；Limited location snap ring (5) is by two symmetrical semi-circular shape structures
Part docks clip in support bar (4) outer wall by bolt；Eight rotation oars (3) on four support bars (4) are spatially around standpipe
(1) helically rise shape to arrange.
2. a compound disturbance formula riser vortex induced vibration inhibiting method, utilizes compound disturbance formula standpipe as claimed in claim 1
Vortex-induced vibration suppression device, is characterized in that: ocean current impacts on the S-shaped blade (2) of upper and lower two bearings (6), promotes S-shaped leaf
Sheet (2) around standpipe (1) rotate, drive support bar (4) and rotation oar (3) around standpipe (1) rotate, upset standpipe (1) surface around
Stream flow field, destroys and streams coming off and developing of vortex；Ocean current impact rotation oar (3), drives rotation oar (3) to rotate around support bar (4),
Eight the rotation oars (3) helically rising shape layout around standpipe (1) rotate in different layers position, destroy the development around laminar boundary layer,
Change the burble point of boundary region, have impact on coming off and releasing of vortex；Four support bars (4) are arranged around standpipe (1), interference
Standpipe (1) Flow Field, has upset the separation of boundary region；Oar (3) is revolved in rotation disturbance, different layers position in S-shaped blade (2)
Revolution and rotation synergism, support bar (4) interference effect under, standpipe (1) stream vortex by multiple-disruption, thus suppress
Standpipe (1) vibration excited by vortex.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610850915.0A CN106285511B (en) | 2016-09-27 | 2016-09-27 | A kind of compound disturbance formula standpipe vortex-induced vibration suppression device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610850915.0A CN106285511B (en) | 2016-09-27 | 2016-09-27 | A kind of compound disturbance formula standpipe vortex-induced vibration suppression device and method |
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| CN106285511B CN106285511B (en) | 2018-05-22 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106958426A (en) * | 2017-03-03 | 2017-07-18 | 中国石油大学(华东) | That assembles rotary blade revolves vortex-induced vibration of marine riser restraining device and method |
| CN107065945A (en) * | 2017-05-27 | 2017-08-18 | 湘潭大学 | Shear to flow down flow around bluff bodies and vortex-induced vibration effect Active Control Method and equipment |
| CN107560811A (en) * | 2017-08-16 | 2018-01-09 | 中国海洋石油总公司 | A kind of double standpipe vortex-induced vibration research experiment vertical tube fixing devices |
| CN109236014A (en) * | 2018-11-16 | 2019-01-18 | 郑州大学 | A kind of broken whirlpool device of the dual spin inhibiting steel pipe tall and slender structure vortex-induced vibration |
| CN110792658A (en) * | 2019-10-29 | 2020-02-14 | 江苏科技大学 | Marine magnetic suspension vortex-induced vibration suppression device |
| CN113585210A (en) * | 2021-09-13 | 2021-11-02 | 西南石油大学 | Vibration suppression device and method for marine riser with partition plate rotating and swinging and screw rotating cooperation |
| CN113931581A (en) * | 2021-09-16 | 2022-01-14 | 建湖县永维阀门钻件有限公司 | Can anti whirlpool press down riser that shakes |
| CN113992060A (en) * | 2021-10-27 | 2022-01-28 | 西南石油大学 | Drainage and sliding pendulum combined synchronous vibration suppression and power generation device and method |
| CN114776515A (en) * | 2022-03-31 | 2022-07-22 | 西南石油大学 | Cantilever drainage and rotation coupling synchronous power generation and vibration suppression device and method |
| CN114895570A (en) * | 2022-07-13 | 2022-08-12 | 西南石油大学 | Multi-constraint self-adaptive control method for marine flexible riser |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106958426A (en) * | 2017-03-03 | 2017-07-18 | 中国石油大学(华东) | That assembles rotary blade revolves vortex-induced vibration of marine riser restraining device and method |
| CN106958426B (en) * | 2017-03-03 | 2018-04-20 | 中国石油大学(华东) | Assembling rotary blade revolves vortex-induced vibration of marine riser restraining device and method |
| CN107065945A (en) * | 2017-05-27 | 2017-08-18 | 湘潭大学 | Shear to flow down flow around bluff bodies and vortex-induced vibration effect Active Control Method and equipment |
| CN107560811A (en) * | 2017-08-16 | 2018-01-09 | 中国海洋石油总公司 | A kind of double standpipe vortex-induced vibration research experiment vertical tube fixing devices |
| CN109236014A (en) * | 2018-11-16 | 2019-01-18 | 郑州大学 | A kind of broken whirlpool device of the dual spin inhibiting steel pipe tall and slender structure vortex-induced vibration |
| CN109236014B (en) * | 2018-11-16 | 2024-04-16 | 郑州大学 | Double spin vortex breaking device for inhibiting vortex-induced vibration of steel pipe high-rise structure |
| CN110792658B (en) * | 2019-10-29 | 2021-07-06 | 江苏科技大学 | Marine magnetic suspension vortex-induced vibration suppression device |
| CN110792658A (en) * | 2019-10-29 | 2020-02-14 | 江苏科技大学 | Marine magnetic suspension vortex-induced vibration suppression device |
| CN113585210A (en) * | 2021-09-13 | 2021-11-02 | 西南石油大学 | Vibration suppression device and method for marine riser with partition plate rotating and swinging and screw rotating cooperation |
| CN113931581A (en) * | 2021-09-16 | 2022-01-14 | 建湖县永维阀门钻件有限公司 | Can anti whirlpool press down riser that shakes |
| CN113992060A (en) * | 2021-10-27 | 2022-01-28 | 西南石油大学 | Drainage and sliding pendulum combined synchronous vibration suppression and power generation device and method |
| CN113992060B (en) * | 2021-10-27 | 2023-08-15 | 西南石油大学 | Synchronous vibration suppression and power generation device and method combining drainage and sliding pendulum |
| CN114776515A (en) * | 2022-03-31 | 2022-07-22 | 西南石油大学 | Cantilever drainage and rotation coupling synchronous power generation and vibration suppression device and method |
| CN114776515B (en) * | 2022-03-31 | 2023-12-22 | 西南石油大学 | Synchronous power generation and vibration suppression device and method for cantilever drainage and rotary coupling |
| CN114895570A (en) * | 2022-07-13 | 2022-08-12 | 西南石油大学 | Multi-constraint self-adaptive control method for marine flexible riser |
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