CN109533207B - Automatic adjusting method for pre-tension of mooring cable in pool model test - Google Patents
Automatic adjusting method for pre-tension of mooring cable in pool model test Download PDFInfo
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- CN109533207B CN109533207B CN201811373175.1A CN201811373175A CN109533207B CN 109533207 B CN109533207 B CN 109533207B CN 201811373175 A CN201811373175 A CN 201811373175A CN 109533207 B CN109533207 B CN 109533207B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
Abstract
The invention discloses a method for automatically adjusting the pretension of a mooring cable in a pool model test, wherein a mooring cable tension acquisition unit reads and stores the pretension of each mooring cable, a control unit sends an instruction to a power unit to sequentially adjust the length of each mooring cable, a calculation unit calculates to obtain a mooring cable pretension increment rigidity matrix according to the adjustment length and the pretension change of the mooring cable, the control unit sends an instruction to the power unit to quantitatively adjust the length of the mooring cable, the mooring cable tension acquisition unit records the pretension of the current situation, and the calculation unit calculates the error between the current pretension and the target pretension and transmits the error to the control unit; the control unit judges whether the pretension error meets the requirement. The invention has the beneficial effects that the test efficiency and the test precision can be improved, so that an accurate test result can be obtained.
Description
Technical Field
The invention belongs to the technical field of ocean engineering, and relates to a method for automatically adjusting the pretension of a mooring cable in a pool model test based on the identification of a mooring cable tension increment rigidity matrix and automatic control.
Background
With the development of ocean oil and gas, wind energy, wave energy and other ocean development activities towards the deep sea, floating structure systems (such as semi-submersible platforms, Spar platforms, tension leg platforms and the like and mooring systems thereof) gradually become main equipment of ocean engineering. The deep sea floating structure system is high in cost and severe in working environment, and a pool model test is usually required in the platform research and development design process to ensure the structure safety.
The mooring cable is an important component of the floating structure system and provides positioning guarantee for normal operation of the floating platform. In a pool model test of a deep sea floating structure system, due to the existence of errors in anchor point positions, mooring cable lengths, mass and rigidity, floating platform draft, floating state and the like, the pretension of the mooring cable is often wrong with a target value. And the pre-tension of the mooring cable has obvious influence on the dynamic performance of the floating platform and the mooring system. Therefore, in order to ensure the reliability of the test results of the pool model, relatively precise adjustment of the pre-tension of the mooring lines is required.
At present, no relevant professional equipment and method are available for adjusting the pretension of the mooring cables in the pool model test, and workers are mainly used for manually adjusting the lengths of the mooring cables in the pool one by one. The adjustment basis is not sufficient, and certain blindness is achieved. Meanwhile, since the floating platform system usually has a plurality of mooring lines (e.g., six, eight, twelve, etc.), and the tensions of the mooring lines are related to each other, when a certain mooring line is adjusted, the pretensions of all other mooring lines are changed accordingly, and cannot be adjusted to a target value one by one. Therefore, the pretension adjustment of the mooring cable needs to be tried and circulated for many times, and each adjustment needs to wait for the water surface to be completely static before the next adjustment is carried out, so that the time-consuming work in the pool model test is realized, and the test progress is seriously influenced. The mooring system with 6 mooring cables is provided, the pretension adjustment can be completed within 2-3 hours generally, and the whole test progress is greatly influenced; if there are several mooring systems in a test, the process takes a lot of time. The cost required by the pool model test in the industry is extremely high, and the daily rent of a common storm flow pool can reach tens of thousands of yuan. In a word, in the existing floating structure system pool model test, the adjustment of the pretension of the mooring cable has the defects of insufficient theoretical basis, poor adjustment precision, high time and economic cost and the like.
Therefore, how to scientifically, rapidly and accurately adjust the pretension of the mooring cable is a difficult problem to be solved urgently in the current floating platform/mooring system model test.
Disclosure of Invention
The invention aims to provide an automatic adjusting method for the pretension of a mooring cable in a pool model test, provides a quick adjusting method with a sufficient theoretical basis for the pretension adjustment of the mooring cable, and solves the problems of blind adjustment, high difficulty and long time consumption of the pretension of the mooring cable in the current pool model test of a deep-sea floating body/mooring system. The invention has the advantages of enhancing the theories of the pre-tension adjustment of the mooring cable, improving the test efficiency and precision, and obtaining reliable test results to better guide academic research and actual engineering design.
The system according to the present invention comprises: the mooring cable tension acquisition unit, the calculation unit, the control unit and the power unit.
The tension acquisition unit of the mooring cable can read and record tension data of each mooring cable. The computing unit is connected with the mooring cable tension acquisition unit and can receive the mooring cable tension data transmitted by the mooring cable tension acquisition unit; the core task of the calculation unit is to calculate a tension increment stiffness matrix of the mooring cable according to the length change of the mooring cable and the tension change of the mooring cable, and further calculate the length adjustment quantity of each mooring cable according to the difference value of the current pretension and the target pretension of the mooring cable. The control unit is connected with the computing unit and can receive the mooring cable adjustment amount data transmitted by the computing center; meanwhile, the control unit can judge the pretension error of the mooring cable and control the working procedure of the whole adjusting system. The power unit is connected with the control center, can receive the adjustment data of the mooring cables transmitted by the control center and executes related commands to quantitatively adjust the lengths of the mooring cables.
The technical scheme adopted by the invention is carried out according to the following steps:
1) and after the arrangement of the mooring system is finished, the mooring cable tension acquisition unit reads and stores the initial pretension of each mooring cable and transmits the initial pretension to the calculation unit.
2) The control unit sends out an instruction to the power unit to respectively pre-adjust each mooring cable by a small distance.
3) The mooring cable tension acquisition unit respectively records the pretension of each mooring cable after each adjustment and transmits the pretension to the calculation unit.
4) The calculation unit forms a mooring cable length increment matrix and a mooring cable tension increment matrix according to the initial pretension of the mooring cable, the length adjustment amount of the mooring cable, the pretension of the mooring cable after each adjustment and other data, and calculates to obtain a mooring cable pretension increment rigidity matrix.
5) Further, the calculation unit calculates the length adjustment value of each mooring cable according to the difference value between the pretension of the target mooring cable and the current pretension and the pretension increment stiffness matrix, and transmits the information to the control unit.
6) The control unit sends out an instruction to the power unit to quantitatively adjust the length of each mooring cable.
7) After adjustment is finished, the tension acquisition unit records the current pretension, transmits the pretension to the calculation unit, calculates the difference between the pretension and the target pretension, namely the pretension error, and transmits the pretension to the control unit.
8) The control unit judges whether the pretension error of the mooring cable meets the requirement: if the error is smaller than the set threshold value, namely the pretension of the mooring cable meets the test requirement of the pool model, entering the step 9); and if the error is larger than the set threshold, the control center sets the adjusted pretension as the initial pretension, and performs a new round of adjustment, namely repeating the steps 2) to 8).
9) And when the pre-tension adjustment of the mooring cable is finished, the system gives a work completion signal, and the work of the automatic adjustment system is finished.
Further, the mooring cable tension increment rigidity matrix K is obtained by the following method:
for a mooring system with n mooring lines, K is an n-order square matrix. K and a mooring cable length increment matrix delta X (the corresponding adjustment amount is positive when the length of the mooring cable is adjusted and increased) and a mooring cable pretension increment matrix delta T have the following quantity relationship:
K·δX＝δT
whereas during pre-alignment, δ X and δ T are known, the mooring line pre-tension incremental stiffness matrix can be expressed as:
K＝δT·δX-1
calculating the length adjustment increment vector of each mooring cable according to the difference vector delta T of the target pretension of the mooring cable and the actual pretension in the current state as follows: Δ X ═ K-1·ΔT。
Furthermore, the power unit consists of a group of small motors, and provides power for the retraction of the mooring cable to quantitatively adjust the length of the mooring cable.
Drawings
FIG. 1 is a tuning flow chart;
FIG. 2 is a diagram of the different unit work tasks.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
As shown in fig. 1 and 2, the method of the invention comprises the following steps:
1) and after the arrangement of the mooring system is finished, the mooring cable tension acquisition unit reads and stores the initial pretension of each mooring cable and transmits the initial pretension to the calculation unit.
2) The control unit sends out an instruction to the power unit to respectively pre-adjust each mooring cable by a small distance.
3) The mooring cable tension acquisition unit respectively records the pretension of each mooring cable after each adjustment and transmits the pretension to the calculation unit.
4) The calculation unit forms a mooring cable length increment matrix and a mooring cable tension increment matrix according to the initial pretension of the mooring cable, the length adjustment amount of the mooring cable, the pretension of the mooring cable after each adjustment and other data, and calculates to obtain a mooring cable pretension increment rigidity matrix.
5) Further, the calculation unit calculates the length adjustment value of each mooring cable according to the difference value between the pretension of the target mooring cable and the current pretension and the pretension increment stiffness matrix, and transmits the information to the control unit.
6) The control unit sends out an instruction to the power unit to quantitatively adjust the length of each mooring cable.
7) After adjustment is finished, the tension acquisition unit records the current pretension, transmits the pretension to the calculation unit, calculates the difference between the pretension and the target pretension, namely the pretension error, and transmits the pretension to the control unit.
8) The control unit judges whether the pretension error of the mooring cable meets the requirement: if the error is smaller than the set threshold value, namely the pretension of the mooring cable meets the test requirement of the pool model, entering the step 9); and if the error is larger than the set threshold, the control center sets the adjusted pretension as the initial pretension, and performs a new round of adjustment, namely repeating the steps 2) to 8).
9) And when the pre-tension adjustment of the mooring cable is finished, the system gives a work completion signal, and the work of the automatic adjustment system is finished.
The mooring cable tension acquisition unit can read and record tension data of each mooring cable. The computing unit is connected with the mooring cable tension acquisition unit and can receive the mooring cable tension data transmitted by the mooring cable tension acquisition unit; the core task of the calculation unit is to calculate a tension increment stiffness matrix of the mooring cable according to the length change of the mooring cable and the tension change of the mooring cable, and further calculate the length adjustment quantity of each mooring cable according to the difference value of the current pretension and the target pretension of the mooring cable. The control unit is connected with the computing unit and can receive the mooring cable adjustment amount data transmitted by the computing center; meanwhile, the control unit can judge the pretension error of the mooring cable and control the working procedure of the whole adjusting system. The power unit is connected with the control center, can receive the adjustment data of the mooring cables transmitted by the control center and executes related commands to quantitatively adjust the lengths of the mooring cables.
Taking a mooring system with four mooring lines as an example, the process for obtaining the mooring line pretension incremental stiffness matrix K is as follows:
adjusting only the first mooring line to a length δ x1The pretension increment vector of the four mooring cables is
At this time, the mooring system pretension increment equation:
then, a second mooring line is adjusted to a length δ x2The pretension increment vector of the four mooring cables is
At this point the pre-tension of the mooring system is increasedThe quantity equation is:
and sequentially adjusting the third mooring cable and the fourth mooring cable to obtain a corresponding pretension incremental equation. The four incremental equations are taken together and can be written as the following expression:
then, the incremental stiffness matrix for the pre-tension of the mooring lines can be obtained as follows:
calculating the adjustment quantity of each mooring cable according to the difference delta T between the target pretension and the current pretension:
the invention also has the advantages that:
1) a new and feasible method for automatically adjusting the pretension of a mooring cable is provided: the mooring cable pre-tension adjusting device in the floating platform/mooring system pool model test provided by the invention uniformly adjusts all mooring cables of the floating structure system by designing the mooring cable tension acquisition unit, the calculation unit, the control unit and the power unit, so that the scientific basis is sufficient, and the adjustment is efficient. Meanwhile, in the adjusting process, the mooring cable pretension increment rigidity matrix is recalculated in each adjusting cycle, so that the nonlinear problem of a mooring system can be solved, and the convergence rate in the adjusting process is accelerated.
2) Automatic control, which is combined with the structural design of the control unit, the control unit is connected with a mooring cable tension acquisition unit (automatically recognizing/reading tension), a calculation unit, a power unit and the like, and the whole process realizes automatic operation, and is rapid and accurate; meanwhile, as the operation of launching workers is not needed, the still water process is simplified, and a large amount of time and economic cost are saved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the present invention.
Claims (4)
1. A method for automatically adjusting the pre-tension of a mooring cable in a pool model test is characterized by comprising the following steps:
1) after the arrangement of the mooring system is finished, the mooring cable tension acquisition unit reads and stores the initial pretension of each mooring cable and transmits the initial pretension to the calculation unit;
2) the control unit sends an instruction to the power unit, and a small distance is pre-adjusted for each mooring cable;
3) the mooring cable tension acquisition unit respectively records the pretension of each mooring cable after each adjustment and transmits the pretension to the calculation unit;
4) the calculation unit calculates to obtain a pretension increment stiffness matrix of the mooring cable according to the initial pretension of the mooring cable, the length adjustment amount of the mooring cable and pretension data of the mooring cable after each adjustment;
5) the calculation unit calculates the length adjustment value of each mooring cable according to the difference value between the pretension of the target mooring cable and the current pretension and the pretension increment rigidity matrix, and transmits the length adjustment value to the control unit;
6) the control unit sends an instruction to the power unit to quantitatively adjust the length of each mooring cable;
7) after the adjustment is finished, the tension acquisition unit records the current pretension, transmits the pretension to the calculation unit, calculates the difference between the pretension and the target pretension, namely the pretension error, and transmits the pretension to the control unit;
8) the control unit judges whether the pretension error of the mooring cable meets the requirement: if the error is smaller than the set threshold value, namely the pretension of the mooring cable meets the test requirement of the pool model, entering the step 9); if the error is larger than the set threshold value, the control center sets the adjusted pretension as the initial pretension, performs a new round of adjustment, and repeats the steps 2) to 8) until the pretension of the mooring cable is adjusted to meet the set precision;
9) and when the pre-tension adjustment of the mooring cable is finished, the system gives a work completion signal, and the work of the automatic adjustment system is finished.
2. The method for automatically adjusting the pretension of the mooring cable in the pool model test according to claim 1, which is characterized in that: the tension acquisition unit of the mooring cable is used for reading and recording tension data of each mooring cable; the computing unit is connected with the mooring cable tension acquisition unit and used for receiving mooring cable tension data transmitted by the mooring cable tension acquisition unit, and the computing unit has the core task of computing a mooring cable pretension increment rigidity matrix according to the length change of the mooring cable and the tension change of the mooring cable and further computing the length adjustment quantity of each mooring cable according to the difference value of the current pretension and the target pretension of the mooring cable; the control unit is connected with the calculation unit, receives the adjustment data of the mooring cable transmitted by the calculation center, and meanwhile, judges the pretension error of the mooring cable and controls the working program of the whole adjustment system; the power unit is connected with the control center, receives the adjustment data of the mooring cables transmitted by the control center, and executes related commands to quantitatively adjust the lengths of the mooring cables.
3. The method for automatically adjusting the pretension of the mooring cable in the pool model test according to claim 2, characterized in that: the mooring cable pretension incremental stiffness matrix K is as follows:
for a mooring system with n mooring cables, K is an n-order square matrix, and the K has the following quantity relation with a mooring cable length increment matrix delta X and a mooring cable pretension increment matrix delta T:
K·δX＝δT
whereas during pre-alignment, δ X and δ T are known, the mooring line pre-tension incremental stiffness matrix can be expressed as:
K＝δT·δX-1
according to the target of mooring cableCalculating the length adjustment increment vector of each mooring cable according to the difference vector delta T of the pretension and the actual pretension in the current state as follows: Δ X ═ K-1·ΔT。
4. The method for automatically adjusting the pretension of the mooring cable in the pool model test according to claim 1, which is characterized in that: the power unit is composed of a group of small motors and provides power for the mooring cable take-up and pay-off unit to quantitatively adjust the length of the mooring cable.
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