CN108287981A - A kind of anchoring damping values computational methods - Google Patents
A kind of anchoring damping values computational methods Download PDFInfo
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- CN108287981A CN108287981A CN201810338106.0A CN201810338106A CN108287981A CN 108287981 A CN108287981 A CN 108287981A CN 201810338106 A CN201810338106 A CN 201810338106A CN 108287981 A CN108287981 A CN 108287981A
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- mooring line
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Abstract
The present invention proposes a kind of anchoring damping values computational methods, can accurately calculate mooring system and contribute the damping of marine floating type works motor imagination.First, motor imagination of the mooring line in the case where displacement excitation is forced on top is calculated using concentrated quality method or finite element method, obtains the position and speed of each micro- section of node of mooring line；Then, angle, normal direction and the tangential velocity for calculating each micro- segment unit, based on normal direction and tangent hauling force suffered by Morison equations mooring lines；Finally, acting of the drag within a period of motion suffered by each micro- section of mooring line is calculated, is integrated along mooring line overall length, you can obtains the energy that mooring line consumes in a cycle, and then obtains the anchoring damped coefficient of equivalent linearization.Calculating anchoring damping method accuracy provided by the invention is high, while can not only assess the damping contribution of mooring line entirety, but also can study random length segmentation in mooring line and provide reference to the contribution proportion of integral damping for the design of mooring system.
Description
Technical field
The invention belongs to ocean engineering application fields, are related to a kind of marine floating type works mooring line Damping calculating method,
Damping analysis suitable for single component and multi-component mooring line.
Background technology
When marine floating type works mooring system calculates analysis, the mechanism of research anchoring damping is simultaneously computed correctly mooring system
To the damping of marine floating type works motor imagination contribution, motor imagination and mooring line for accurate forecast floating structure by
Power is of great significance.For the research of anchoring damping, there are mainly three types of methods at present：Quasi-static analysis method, time-Domain FEM
Indicate figure method and model testing method.Quasi-static analysis method assumes that mooring line moment within one period of motion of floating structure is all located
In quasi-static state, it is each at equilbrium position and two peak swing positions that mooring line is calculated based on catenary equation
The position coordinates of mooring line cell node, using correlation formula derive and mooring line are calculated within a period of motion and disappear
The energy of consumption, and then obtain mooring line equivalent linearization damped coefficient.Time-Domain FEM indicates figure method, it is assumed that on mooring line top
Apply sinusoidal motion forced excitation, mooring line dynamics response is calculated by time-domain finite element method, obtains anchor in a period of motion
Line top horizontal displacement-Horizontal Tension closing instruction figure curve is moored, the area of the curve is the energy of mooring line consumption, in turn
Obtain anchoring damping.Model test method includes two kinds of free damping test method and experiment instruction figure method：Free damping is tested
Method is the floating structure free damping experiment of the floating structure for carrying out being not connected to mooring system respectively and connection mooring system, meter
The difference for calculating the two test result can be obtained the damping contribution of mooring system；Experiment instruction figure method is schemed with time-Domain FEM instruction
Method Computing Principle is the same, and only the horizontal displacement on mooring line top and Horizontal Tension time-histories are obtained by testing.
On the whole, in existing anchoring Damping calculating method, quasi-static analysis method calculates quickly, can calculate segmentation anchoring
Line damps, but this method result of calculation is inaccurate, and is only applicable to mooring line tip motions very slow i.e. mooring line
Top is in the case where low-frequency oscillation campaign.Time-Domain FEM indicates figure method, it may be considered that mooring line during the motion each
Kind nonlinear effect, calculates accurately, but is only capable of considering the integrally provided damping contribution of mooring line, cannot be a certain section to mooring line
Or the damping contribution of local constituent is assessed.And model test method, although and can relatively accurately obtain anchor
Pool damping, but the implementation of model test limited by objective condition it is larger, and test method(s) equally cannot to a certain section of mooring line or
The damping contribution of local constituent is assessed.
Invention content
It is an object of the invention to be directed to existing anchoring Damping calculating method to be unable to accurate evaluation arbitrarily segmentation to whole resistance
The deficiency of Buddhist nun's contribution indicates the respective advantage of figure method in conjunction with quasi-static analysis method and finite element, proposes a kind of new based on power
The anchoring damping accurate estimation method of analysis.
In order to achieve the above object, the technical scheme is that：
A kind of anchoring damping values computational methods, the computational methods are ignored mooring line 1 and are made with the contact frictional damping of sea bed 4
With including the following steps：
The first step establishes mooring line numerical model first, consider the gravity of mooring line 1, buoyancy, elastic elongation and with
The interaction force (including drag and additional tension stress) of flow.Apply the strong of horizontal direction on top floating structure 2
Compel displacement excitation, calculate mooring line 1 using concentrated quality method or nonlinear finite element method forces position in top floating structure 2
The motor imagination under excitation is moved, the position and speed of each micro- section of node of mooring line 1 is obtained.The calculating of motor imagination can be according to phase
Theoretical voluntarily program calculation is closed, can also be calculated by business software such as AQWA/Cable Dynamic, Orcaflex etc.,
The computational methods and process comparative maturity and be not the emphasis that the present invention emphasizes, are not described in detail herein.Described applies
The forced displacement excitation being added on top floating structure 2 is sinusoidal excitation.
Second step, by previous step calculating as a result, extracting each micro- segment unit node of mooring line 1 in global coordinate x-z
Under position and speed, converted by coordinate, each micro- segment unit normal velocity and tangential velocity be calculated.Utilize Morison
The normal direction and tangent hauling force that each micro- segment unit of equations is subject to.
Third walks, the drag and corresponding speed being calculated in conjunction with previous step, calculates any moment in stable period and drags
The acting of drag force sums to drag acting integral suffered by all micro- sections of all moment mooring lines 1 in an entire motion period,
Obtain the gross energy that mooring line movement dissipates in a cycle.If only to calculate a certain segment length mooring line movement Dissipated energy
Amount, all micro- section of drags that need to include to this section of mooring line only are done work in one cycle integrates summation.
4th step damps anchoring using energy dissipation model and carries out equivalent linearization, the anchoring acquired by previous step
Equivalent linearization damped coefficient is calculated in line movement dissipation gross energy.
Beneficial effects of the present invention are：Provide it is a kind of it is accurate calculate anchoring damping strategy, solve research mostly at
Divide the problem of different segmentation mooring lines provide damping proportion in mooring system.Damping calculating method model proposed by the present invention
Succinctly, accurate, clear principle is calculated, certain reference is provided for mooring system design.
Description of the drawings
Fig. 1 is mooring line Damping calculating schematic diagram；
Fig. 2 is mooring line Damping calculating flow chart.
In figure：1 mooring line；2 floating structures；3 anchors；4 sea beds；5 standing levels.
Specific implementation mode
Technical solution for a better understanding of the present invention, is described in further detail below in conjunction with attached drawing and example.
A kind of anchoring damping values computational methods, the computational methods are ignored mooring line 1 and are made with the contact frictional damping of sea bed 4
With the improvement that the contact of consideration sea bed rubs on the basis of the method also belongs to this method protection category, 1 top of mooring line and ocean
Floating structure 2 connects, and sea bed is fixed in bottom end by anchor 3.The computational methods include the following steps：
The first step：Solve mooring line motor imagination
As shown in Figure 1, establishing mooring line numerical model at global coordinate x-z.Mooring line 1 is divided into several micro- sections
Unit, top end unit node are connected with floating structure 2, can be moved together with floating structure 2 under outer load action, bottom
End unit node is connected with anchor 3, as stationary nodes.
The forced displacement excitation for applying horizontal direction on top floating structure 2 is calculated using concentrated quality method and is anchored
Motor imagination of the line 1 in the case where top floating structure 2 forces displacement excitation obtains position and the speed of each micro- section of node of mooring line 1
Degree.Generally, when studying mooring line damping, it can be assumed that the displacement excitation being applied on floating structure 2 is just
String encourages.
Second step：Solve drag suffered by mooring line
According to the result of calculation of 1 motor imagination of mooring line in the first step, each micro- section of mooring line under global coordinate x-z is extracted
The position and speed of node any moment within a stable period, and then converted by coordinate, each micro- segment unit is calculated
Angle, normal velocity and tangential velocity.
If two end nodes of unit I are i and i+1 in Fig. 1, it is respectively in the position and speed of t moment With(wherein,For the horizontal coordinate of t moment i-node,For t moment i-node
Vertical coordinate,For the horizontal velocity of t moment i-node,For the vertical velocity of t moment i-node, subscript i+1 indicates i+1
The corresponding amount of node).The normal velocity of t moment unit I is calculated separately according to the following formulaAnd tangential velocity
Wherein,WithRespectively unit I t moment angle, horizontal velocity and vertical velocity, respectively by
Following formula acquires：
The normal direction drag that the micro- segment unit ds of mooring line is subject toAnd tangent hauling forceIt is calculated by Morison formula
It acquires：
Wherein, ρ is density of sea water,WithThe respectively normal direction and Tangential Drage Force Coefficient of unit I, DIFor unit I
Equivalent diameter.
Third walks, and calculates mooring line and moves dissipation energy
The drag and corresponding speed being calculated in conjunction with previous step calculate micro- section of any moment mooring line in stable period
Drag suffered by unit is done work, and to all moment mooring lines in an entire motion period 1, all drag suffered by micro- section is done work
Integral summation, you can obtain the ENERGY E that whole mooring line dissipates in a cycle T.If only to calculate a certain segment length anchor
It moors line and moves dissipation energy, all micro- section of drags acting integral summation for only including to the segmentation mooring line.
In t moment, normal direction drag acting suffered by micro- segment unit IIt does work with tangent hauling forceRespectively：
To all micro- segment unit drag acting integral summations in a period of motion T, you can obtain whole mooring line and exist
The energy to dissipate in one period of motion：
Wherein, L is whole micro- segment unit length.
It, only need to be to micro- section of drag of the segmentation mooring line if necessary to calculate the energy of wherein a certain section mooring line L ' dissipation
Acting integral summation：
Wherein, L1And L2Between be required segmentation mooring line.
4th step calculates mooring line Equivalent damping coefficient
When studying mooring line 1 to the damping action of floating structure 2, generally use energy dissipation model to anchoring damp into
Row equivalent linearization.Equivalent linearization damped coefficient is calculated in the mooring line movement dissipation gross energy acquired by previous step.
The ENERGY E that mooring line dissipates in a period of motion T can be expressed as：
Wherein, T is the period of motion, TxFor the real-time Horizontal Tension in 1 top of mooring line, X is tip displacement.
Damping can be described by the damped coefficient B of equivalent linearization.So, the real-time Horizontal Tension in mooring line top can
To be expressed as：
Assuming that the forced excitation applied to top floating structure 2 in the first step isWherein, A0
For amplitude, T is the period of motion.In the case where linearisation is assumed, the energy that mooring line dissipates in a period of motion can be expressed as：
The ENERGY E that mooring line dissipates in a period of motion T being calculated according to third above step, substitutes into formula (14)
It can be obtained by equivalent linearization damped coefficient：
The method further illustrated the present invention with reference to a specific example.
Given three-stage mooring line parameter is as shown in table 1, depth of water 1500m, pretension 1600kN.Mooring line is divided into 76
A micro- segment unit, each element length are 50m.
1 mooring line material parameter of table
The 2 Horizontal sinusoidal excitation of given top floating structureAccess time interval of delta t=
0.2s calculates mooring line motor imagination, to avoid the influence of transient effect, calculates 5 periods, extracts all micro- section of nodes and exists
The position and speed of any moment in the last one complete steady-state period.Choose the result exhibition of wherein a certain moment (t=975s)
Show as follows：
Micro- section of node location of 2 mooring line of table and speed
Then, the normal direction and tangential velocity that the moment each unit is calculated according to formula (1)-(5) are calculated by formula (6)-(7)
Drag suffered by unit, partial results are presented below：
The micro- segment unit speed of 3 mooring line of table and drag
It does work next, integrating all micro- segment unit drags in a complete cycle by formula (8)-(10), you can
The energy to be dissipated within a period of motion to whole mooring line：
E=6082.2kJ
Finally, Equivalent damping coefficient is calculated by formula (12)：
C=68.4725kNs/m
On the one hand it is to calculate accurately in place of the advantage of this method, on the other hand can studies random length segmentation mooring line
Contribution to integral damping.As wanted three sections of research top chain, middle part cable wire and lower part anchor chain in this example respectively to whole anchor
It moors line and damping contribution proportion is provided, the energy that three sections of mooring lines respectively dissipate can be calculated separately according to formula (11), is obtained：
4 mooring line of table is segmented dissipation energy
Embodiments of the present invention above described embodiment only expresses, but therefore can not be interpreted as special to the present invention
The scope limitation of profit, it is noted that for those skilled in the art, without departing from the inventive concept of the premise, also
Several modifications and improvements can be made, these belong to the scope of the present invention.
Claims (8)
1. a kind of anchoring damping values computational methods, which is characterized in that the computational methods ignore mooring line (1) and sea bed (4)
Frictional damping effect is contacted, is included the following steps：
The first step：Solve mooring line motor imagination
Mooring line numerical model is established at global coordinate x-z；Mooring line (1) is divided into several micro- segment units, top is single
First node is connected with floating structure (2), and bottom end cell node is connected with anchor (3), as stationary nodes；In top floating structure
The forced displacement excitation for applying horizontal direction on object (2) calculates mooring line (1) and forces displacement to swash in top floating structure (2)
Motor imagination under encouraging obtains the position and speed of each micro- section of node of mooring line (1)；
Second step：Solve drag suffered by mooring line
According to the result of calculation of mooring line in the first step (1) motor imagination, each micro- section of section of mooring line under extraction global coordinate x-z
The position and speed of any moment o'clock within a stable period, and then converted by coordinate, each micro- segment unit is calculated
Angle, normal velocity and tangential velocity；The normal direction and tangent hauling force being subject to using each micro- segment unit of Morison equations；
Third walks, and calculates mooring line and moves dissipation energy
The drag and corresponding speed being calculated in conjunction with previous step calculate the micro- segment unit of any moment mooring line in stable period
The acting of suffered drag：
It sums to drag acting integral suffered by all moment mooring lines (1) in an entire motion cycle T all micro- segment unit,
It can be obtained the ENERGY E that whole mooring line dissipates in a cycle T：
Wherein,It does work for normal direction drag suffered by micro- segment unit I,It does work for tangent hauling force suffered by micro- segment unit I,
L is whole micro- segment unit length, and ρ is density of sea water,WithThe respectively normal direction and Tangential Drage Force Coefficient of unit I, DI
For the equivalent diameter of unit I,The respectively normal velocity and tangential velocity of t moment unit I；
If necessary to calculate the energy of wherein a certain section mooring line L ' dissipation, only need to include to the segmentation mooring line all micro- sections
Drag acting integral summation：
Wherein, L1And L2Between be required segmentation mooring line；
4th step, the gross energy that the mooring line movement acquired by previous step dissipates calculate mooring line equivalent damping according to formula (15)
Coefficient：
Wherein, E is the energy that mooring line dissipates in a period of motion T, A0To encourage amplitude.
2. a kind of anchoring damping values computational methods according to claim 1, which is characterized in that the second step solves
Drag suffered by mooring line includes the following contents：
It is i and i+1 to enable micro- two end nodes of segment unit I, is respectively in the position and speed of t moment WithWherein,For the horizontal coordinate of t moment i-node,For the vertical coordinate of t moment i-node,For the horizontal velocity of t moment i-node,For the vertical velocity of t moment i-node, subscript i+1 indicates the corresponding of i+1 nodes
Amount；
The normal velocity of t moment unit I is calculated separately according to the following formulaAnd tangential velocity
Wherein,WithRespectively unit I t moment angle, horizontal velocity and vertical velocity, respectively by following formula
It acquires：
The normal direction drag that the micro- segment unit ds of mooring line is subject toAnd tangent hauling forceIt is asked by the calculating of Morison formula
：
Wherein, ρ is density of sea water,WithThe respectively normal direction and Tangential Drage Force Coefficient of unit I, DIFor unit I etc.
Imitate diameter.
3. a kind of anchoring damping values computational methods according to claim 1 or 2, which is characterized in that the 4th step
Middle calculating mooring line Equivalent damping coefficient includes the following steps：
The ENERGY E that mooring line dissipates in a period of motion T can be expressed as：
Wherein, T is the period of motion, TxFor the real-time Horizontal Tension in mooring line (1) top, X is tip displacement；
The real-time Horizontal Tension in mooring line top is expressed as：
Assuming that being actuated to what top floating structure (2) applied in the first stepWherein, A0For excitation
Amplitude, T are Energizing cycle；In the case where linearisation is assumed, the energy that mooring line dissipates in a period of motion can be expressed as：
The ENERGY E that mooring line dissipates in a period of motion T being calculated according to third step substitutes into formula (14) and obtains equivalent line
Property damped coefficient：
4. a kind of anchoring damping values computational methods according to claim 1 or 2, which is characterized in that the first step
It is middle to force displacement to swash in top floating structure (2) using concentrated quality method or nonlinear finite element method calculating mooring line (1)
Motor imagination under encouraging.
5. a kind of anchoring damping values computational methods according to claim 3, which is characterized in that adopted in the first step
Mooring line (1) is calculated in the case where top floating structure (2) forces displacement excitation with concentrated quality method or nonlinear finite element method
Motor imagination.
6. a kind of anchoring damping values computational methods according to claims 1 or 2 or 5, which is characterized in that described first
The forced displacement excitation being applied in step on top floating structure (2) is sinusoidal excitation.
7. a kind of anchoring damping values computational methods according to claim 3, which is characterized in that applied in the first step
The forced displacement excitation being added on top floating structure (2) is sinusoidal excitation.
8. a kind of anchoring damping values computational methods according to claim 4, which is characterized in that applied in the first step
The forced displacement excitation being added on top floating structure (2) is sinusoidal excitation.
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| CN110489918A (en) * | 2019-08-28 | 2019-11-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A method of Very large floating structure elastic displacement is handled in anchoring analysis |
| CN111006826A (en) * | 2019-11-05 | 2020-04-14 | 中国水产科学研究院南海水产研究所 | Installation and adjustment method of deepwater net cage anchoring system |
| CN115659876A (en) * | 2022-12-27 | 2023-01-31 | 中国海洋大学 | Method for calculating vertical damping coefficient of heave plate of floating structure |
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| CN115659876A (en) * | 2022-12-27 | 2023-01-31 | 中国海洋大学 | Method for calculating vertical damping coefficient of heave plate of floating structure |
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