CN106934103A - Mooring system dynamic response method of estimation based on segmentation extrapolation strategy - Google Patents
Mooring system dynamic response method of estimation based on segmentation extrapolation strategy Download PDFInfo
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- CN106934103A CN106934103A CN201710085856.7A CN201710085856A CN106934103A CN 106934103 A CN106934103 A CN 106934103A CN 201710085856 A CN201710085856 A CN 201710085856A CN 106934103 A CN106934103 A CN 106934103A
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- anchor chain
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/06—Power analysis or power optimisation
Abstract
The present invention is to provide a kind of mooring system dynamic response method of estimation based on segmentation extrapolation strategy.Cable is positioned for the anchoring containing composite parts, it is contemplated that the influence of the factor such as gravity, tension force, ocean current power and elastic elongation suffered by mooring line itself, based on the thought of segmentation extrapolation, solve the dynamic response of whole mooring system.Divided into segmentation to each since anchor point, then according to Numerical method, each is subdivided into different anchor chain units into segmentation, with reference to equation of statics, obtain each unit anchoring line tension and direction span, finally superposition obtains total vertical span and is compared with the depth of water, and the static characteristic of whole mooring line is can obtain on the premise of precision conditions are met.Given system is encouraged, and numerical fitting is carried out to mooring line static nature curve using spline interpolation, then carries out synthesizing for power by the angled relationships between distributed mooring line and stem, thus just realizes the dynamic response of mooring system.
Description
Technical field
The present invention relates to one kind anchoring localization method.
Background technology
Anchoring positioning (Mooring positiong) can be described as the positioning method of earliest generation, belong to passive type positioning
Structure, it is different from other positioning methods, it is based primarily upon reverse tension that mooring line provided to offset environment force, so as to limit
The drift of platform processed.The features such as mooring system has cheap, simple structure, high safety.In view of the system in cost
With the relative advantage in performance, still supported as major technique in offshore operation platform.But with the increase of the depth of water, cloth chain
Mode and the complexity of operation maintenance can also increase, and add the improvement of anchor chain material and location technology, the configuration of mooring system
Also the form of more diversification is showed, it is therefore desirable to detailed motion analysis is carried out to whole anchoring system and just can ensure that floating
Platform operations it is steady.The content for launching further investigation to it is concentrated mainly on two aspects：(1) anchor of platform motion state is maintained
Rope restoring force and torque；(2) motor imagination of the lower mooring system of environmental load effect.Emphasis need to analyze the anchor chain under poised state
Relation between the displacement of shape and tension distribution, i.e. floating structure and tension force.In the design phase of mooring system, to make calculating
Process simplification, most common method is that the dynamic response of mooring line is derived based on Static Calculation.This design is many
Many practices are manipulated and proved, and still widely in maritime project application.But current many colleges and universities, R＆D institution are to mooring system
Static and dynamic analysis are calculated using FEM software, such as ABAQUS, ANSYS, PATRAN, and they are all by complexity
Nonlinear characteristic is merged wherein with the multidisciplinary theory of synthesis, can not be applied to quickly and the engineer applied of simplicity.
The content of the invention
It is an object of the invention to provide a kind of analysis that can quickly carry out mooring line dynamic response motion, so that anchoring
Alignment system can easily be operated the mooring system based on segmentation extrapolation strategy of application dynamically to ring in simulation is studied
Answer method of estimation.
The object of the present invention is achieved like this：
Mould is calculated including sensor detection unit 1, |input paramete memory 5, the segmentation of vertical tension force computing module 8, anchor chain
Block 11, precision comparator 12, accommodation calculations of offset module 18, numerical fitting device 19,
Sensor detection unit 1 measures sea water advanced H, length measuring instrument 3 and measures mooring line overall length by Water depth measuring instrument 2
S, the real-time detection mooring line top pulling force T of tension sensor 4, also gather the position of ship coordinate information by sensor 16；
|input paramete memory 5 be used for store anchor chain attribute, mainly including vertical span computational accuracy δ, anchor chain bottom with
Sea bed angle α；
Vertical tension force computing module 8, calculates current anchor chain and contacts to earth segmentation by touchdown point solver 6 first, if in the presence of,
That is bt≠ 0, then result is conveyed to anchor chain processing unit 9, if not existing, i.e. bt=0, then in cumulative vertical anchor-hold calculator 7
Anchor chain angle α, makes anchor fluke vertical force produce numerical value R；
Anchor chain is segmented result, joint static nature amount solver 10 of the computing module 11 according to vertical tension force computing module 8,
The vertical tension force U in two ends is carried out to each segmenting uniti、Li；Horizontal span xi；Vertical span ziThe calculating of these characteristic quantities, and will be preceding
Section anchor chain end points is used as next segment unit starting point Recursive Solution；
Precision comparator 12, by the depth of water H and total vertical span ∑ z of mooring lineiBetween formed deviation | H- ∑s zi| with meter
Calculate precision δ to compare, if deviation is less than δ, directly by horizontal displacement and the nonumeric fitting device 19 of tension force transmission, if deviation is more than
δ, then solve to vertical tension force computing module 5 again；
Accommodation calculations of offset module 18, longitudinal, the horizontal stroke be given by the processing position sensor 16 of horizontal displacement processor 17
To displacement；
Numerical fitting device 19 carries out dynamic tension using cubic spline interpolation to the accommodation horizontal offset 18 of real-time change
Solve.
Described vertical tension force computing module 8 of the invention includes two parts, and touchdown point solver 6 and vertical anchor-hold are calculated
Device 7.Work as bt, it is necessary to the angle of anchor chain bottom and sea bed is changed into α from 0 when=0, to take into account vertical active force of the anchor to anchor chain
R, the value of increment α is sufficiently small, and the spilling of precision conditions is easily caused very much greatly.
Anchor chain segmentation computing module 18 includes anchor chain processing unit 9 and static nature amount solver 10.Wherein for anchor chain
The smaller result of calculation of division of element length Δ S is more rigorous but too small and consumption length when can cause to calculate.
The selection of vertical computational accuracy δ needs to set reasonable in described precision comparator 12, is typically chosen as δ=H/
1000。
Length in anchor chain processing unit 9 divides both precision setting δ in Δ S and precision comparator 12 should meet Δ S
The δ of ＜ 2, can otherwise cause program to calculate error.
The present invention is a kind of mooring line static analysis method based on catenary suspension type continuous vulcanization equation, and on the basis of static nature amount
It is upper to propose a kind of dynamic response using segmentation extrapolation rapid solving mooring line.The advantage of the invention is that being directed to each anchor chain
Segmenting unit only needs to realize the vertical tension force L at nearly anchor end and nearly floating body endi、UiSolve, then obtained using static nature magnitude relation
This section of horizontal span xiWith vertical span zi, and the L of adjacent sectional is calculated based on segmentation extrapolation thoughti+1、Ui+1、xi+1、zi+1,
It is superimposed with this recursion.The measurement of mooring line unit both ends horizontal angle theta is avoided, the need for reducing known quantity, is easy to quick
Anchoring line morphology is obtained to be solved with real-time tension force.
Brief description of the drawings
Fig. 1 is the mooring system calculation of dynamic response structure chart based on segmentation extrapolation strategy；
Fig. 2 is the anchoring line morphology under different pretensions；
Fig. 3 is mooring line static state resilience performance curve；
Fig. 4 is ship surge motion response under direction of heading sea；
Fig. 5 is direction Lower chains tension force duration curve of heading sea.
Specific embodiment
The present invention is so that anchoring system can obtain fast and convenient operation application in engineering simulation.For containing
The anchoring positioning cable of composite parts, it is contemplated that the factor such as gravity, tension force, ocean current power and elastic elongation suffered by mooring line itself
Influence, based on the thought of segmentation extrapolation, solve the dynamic response of whole mooring system.Due to different types of mooring wire rod matter
Characteristic is different, therefore is divided into segmentation to each since anchor point, then according to Numerical method, each is thin into segmentation
It is divided into different anchor chain units, with reference to equation of statics, obtains each unit anchoring line tension and direction span, finally superposition obtains total
Vertical span and be compared with the depth of water, the static state that whole mooring line is can obtain on the premise of precision conditions are met is special
Property.Given system is encouraged, and numerical fitting is carried out to mooring line static nature curve using spline interpolation, then by distributed mooring line
Angled relationships between stem carry out the synthesis of power, thus just realize the dynamic response of mooring system.
The present invention will be described in detail for citing below in conjunction with the accompanying drawings：
With reference to Fig. 1, the mooring system calculation of dynamic response method based on segmentation extrapolation strategy of the invention mainly includes：
1-measuring unit；2-Water depth measuring instrument；3-length measuring instrument；4-tension sensor；5-input store；6-touchdown point
Solver；7-vertical anchor-hold calculator；8-vertical tension force computing module；9-anchor chain processing unit；10-static nature amount is asked
Solution device；11-anchor chain is segmented computing module；12-precision comparator；13-superposition summer；14-function generator；15-folded
Plus summer；16-vessel position sensor；17-horizontal displacement processor；18-accommodation calculations of offset module；19-numerical value
Fitting device；20-output storage.
|input paramete memory 5, by anchor chain constituent, section length Si, weight in wet base ωi, vertical span computational accuracy δ, anchor
Including the storage such as chain bottom and sea bed angle α.
Touchdown point solver 6, the possibility for setting maximum in the incipient stage is contacted to earth and is segmented btMax=∑ Si- H, works as precision conditions
When being unsatisfactory for Δ ＞ 0, then needing to successively decrease touchdown point obtains the new segmentation b that contacts to eartht.Work as btWhen ≠ 0, illustrate that now anchor fluke is to anchor
The vertical active force for mooring line is zero；If bt=0, then need to consider anchor chain bottom and sea bed level by vertical anchor-hold calculator 7
Angle α, to increase the vertical active force R of anchor fluke.
Anchor chain processing unit 9, proceeds by unit segmentation and divides, with three one-tenth for each constituent of mooring line from anchor point
Divide as a example by combined type mooring line：
N=N1+N2+N3, S=S1+S2+S3
Δ S represents the element length parameter in |input paramete memory 5, and N then represents total unit number to be analyzed.Each unit
Weight and external applied load are concentrated on unit center, and the main external force for acting on anchor chain unit has ocean current power and gravity.Based on point
Section extrapolation thought, using the tail end of the last period anchor chain unit as the top of lower shot shackle unit, by anchor chain processing unit 9 pairs
Any elementary section i carries out force analysis, has：
Tx,i+1=Tx,i-Ficosθi(1+ε)Δs-Disinθi(1+ε)Δs
Tz,i+1=Tz,i-Fisinθi(1+ε)Δs+Dicosθi(1+ε)Δs+ωiΔs
In formula, Tx,i、Tx,i+1The anchor chain Horizontal Tension on i-th and i+1 segmenting unit is represented respectively；Tz,i、Tz,i+1
The vertical tension force of anchor chain on i-th and i+1 segmenting unit is represented respectively；Di、FiOcean current respectively in tangential and normal direction
Power；θiIt is anchor chain horizontal sextant angle.Total anchorage tension expression formula is：
Usual ocean current power is minimum with respect to magnitude for mooring line weight in wet base therefore negligible in rapid solving, then
Have：
Tx,i+1=Tx,i
Tz,i+1=Tz,i+ωiΔs
Anchor chain Horizontal Tension all approximately equals above formula explanation any point.With reference to mooring line catenary equation：
Then segmental correlation expression formula can be obtained is：
Wherein θi+1Represent the horizontal sextant angle of the nearly floating body section of segmentation, θiTo be segmented the horizontal sextant angle of nearly anchor section.
Static nature amount solver 10, based on above-mentioned catenary equation, substitutes into trigonometric function relational expression sin θi+1=Ui/
Ti+1, sin θi=Li/Ti, then the relation between each piece-wise stationary characteristic quantity have：
Superposition summer 13, receives each section vertical output z of static nature amount solver 9i, and carry out read group total
Precision comparator 12, by default accuracy value δ and vertical span bias | H- ∑s zi| it is compared, if both gained are poor
Value Δ=| H- ∑s zi|-δ ＞ 0, then coming back to vertical tension force computing module 8 carries out touchdown point btWith sentencing for the vertical tension force R of anchor fluke
It is disconnected to solve.If Δ=| H- ∑s zi|-δ≤0, then explanation meet required precision, by anchor chain be segmented computing module 11 in laterally across
Away from superposition summer 15 is delivered to, the total horizontal span ∑ x of mooring line is obtainedi, required function is produced using function generator 14
Relation T=f (x).
Horizontal displacement processor 17, calculating treatment is carried out by the longitudinally, laterally displacement that vessel position sensor 16 is detected,
Obtain
Numerical fitting device 19, using cubic spline interpolation, numerical value plan is carried out by the output Δ X of accommodation calculations of offset module 18
Close, in as a result storing output storage 20.
The present invention enters line number using three composition combined type mooring lines of anchor chain-cable-anchor chain form as simulation object
Value checking.Top length of chain cable is 200m, and weight in wet base is 149kg/m, and middle length of warping winch is 2000m, and weight in wet base is 38kg/m, bottom
Length of chain cable is 18000m, and weight in wet base is 149kg/m, and depth of water H is 1500m, and element length Δ S is 0.4m, and precision conditions δ is H/
1000, the increment α=1rad of mooring line bottom and sea bed angle.
Simulation result is shown in accompanying drawing 2- Fig. 5.
As can be seen that the anchor based on segmentation extrapolation strategy proposed by the invention after to simulation curve and data analysis
Pool system calculation of dynamic response method can the convenient reliable motion analysis for realizing mooring and positioning system, can not only obtain not
With the pattern curve of mooring line under pretension, also can fast calculation analysis go out mooring line static characteristic curve and dynamic response lasts
Curve.
Claims (3)
1. a kind of based on the mooring system dynamic response method of estimation for being segmented extrapolation strategy, it is characterized in that：
Calculated including sensor detection unit (1), |input paramete memory (5), vertical tension force computing module (8), anchor chain segmentation
Module (11), precision comparator (12), accommodation calculations of offset module (18), numerical fitting device (19),
It is total that sensor detection unit (1) measures sea water advanced H, length measuring instrument (3) measurement mooring line by Water depth measuring instrument (2)
S long, tension sensor (4) real-time detection mooring line top pulling force T, also gather the position of ship coordinate information by sensor (16)
Put；
|input paramete memory (5) for storing anchor chain attribute, mainly including vertical span computational accuracy δ, anchor chain bottom with sea
Bed angle α；
Vertical tension force computing module (8), calculates current anchor chain and contacts to earth segmentation by touchdown point solver (6) first, if in the presence of,
That is bt≠ 0, then result is conveyed to anchor chain processing unit (9), if not existing, i.e. bt=0, then cumulative vertical anchor-hold calculator (7)
In anchor chain angle α, anchor fluke vertical force is produced numerical value R；
Anchor chain is segmented result, joint static nature amount solver of the computing module (11) according to vertical tension force computing module (8)
(10) the vertical tension force U in two ends, is carried out to each segmenting uniti、Li；Horizontal span xi；Vertical span ziThe calculating of these characteristic quantities,
And using leading portion anchor chain end points as next segment unit starting point Recursive Solution；
Precision comparator (12), by the depth of water H and total vertical span ∑ z of mooring lineiBetween formed deviation | H- ∑s zi| with calculating
Precision δ compares, if deviation is less than δ, directly by horizontal displacement and the nonumeric fitting device (19) of tension force transmission, if deviation is more than
δ, then solve to vertical tension force computing module (5) again；
Accommodation calculations of offset module (18), the longitudinal direction be given by horizontal displacement processor (17) processing position sensor (16),
Lateral displacement；
Numerical fitting device (19) carries out dynamic tension using cubic spline interpolation to the accommodation horizontal offset (18) of real-time change
Solve.
2. according to claim 1 based on the mooring system dynamic response method of estimation for being segmented extrapolation strategy, it is characterized in that：
Vertical computational accuracy δ elects δ=H/1000 as in precision comparator (12).
3. according to claim 1 and 2 based on the mooring system dynamic response method of estimation for being segmented extrapolation strategy, its feature
It is：Length in anchor chain processing unit (9) divides both precision setting δ in Δ S and precision comparator (12) should meet Δ S ＜
2δ。
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Application publication date: 20170707 |