CN109625166A - A kind of simulation system of offshore floating type structure motion - Google Patents
A kind of simulation system of offshore floating type structure motion Download PDFInfo
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- CN109625166A CN109625166A CN201811497113.1A CN201811497113A CN109625166A CN 109625166 A CN109625166 A CN 109625166A CN 201811497113 A CN201811497113 A CN 201811497113A CN 109625166 A CN109625166 A CN 109625166A
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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
- B63B71/00—Designing vessels; Predicting their performance
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Abstract
The present invention relates to a kind of simulation systems of offshore floating type structure motion, comprising: mechanical structure, the floating structure model being connected to below mechanical structure and drive control structure.Mechanical structure includes X-axis mobile device, Y-axis mobile device, Z axis mobile device, steering mechanism and five blocks of level boards, five blocks of level boards are respectively suspension ontology, reversing frame, restocking, X to plate and Y-direction plate from top to bottom, suspension ontology and reversing frame hang and are connected between ontology and reversing frame by retaining ring and with the first locking device that retaining ring matches to support Z axis mobile device；Steering mechanism is connected with suspension ontology, then the outside of Z axis mobile device sleeve is nested in via rolling bearing；X-axis mobile device is connect by restocking support plate with restocking, and Y-axis mobile device is connected by Y-direction support plate and X to plate.The present invention is able to carry out offshore floating type structural model test different under complicated sea situation, without carrying out test under water environment.
Description
Technical field
The invention belongs to deep-sea pipeline physical simulation techniques fields, are related to a kind of simulation system of offshore floating type structure motion
System.
Background technique
Environment in ocean is more complicated, and the offshore floating type structure and various equipment in marine environment are intended to bear to come
From the influence of the various environmental factors such as wind, wave, stream and tide and equipment own load.The response of offshore floating type structure motion is multiple
It is miscellaneous, often there are the six-freedom motions such as surging, swaying, heaving, rolling, pitching, yawing, wherein surging, swaying and heaving are transported
Dynamic amplitude is big, and the period of motion of each freedom degree also has larger difference.The movenent performance of platform can be to stable structure and personnel's work
Make, the normal operation of equipment produces bigger effect, directly determine the production efficiency and security reliability in entire oil field.And deep-sea
Pipeline is critical equipment of deepwater work, including marine riser, submarine pipeline, marine cable and umbilical cables etc., is played in sea
The important function of oil-gas transportation and Operation control is carried out between upper float and subsea production system, between subsea production system.On
The movement of portion's floating structure deep-sea pipeline is installed and is produced play the role of it is great, therefore in analog physical pipeline installation process
Structure Multidirectional motion seems most important.
In order to reach the goals above, floating structure model is fixed in mechanical structure, by control mechanical structure come straight
Connecing Controlling model movement is most direct effective means, this is really installing form and power under operating condition to research pipeline model
Response is of great significance.Ocean engineering field frequently with basin test carry out floating structure (floating platform, offshore wind turbine,
FPSO etc.) dynamic response analysis, but basin test often operating difficulties is expensive, and the test period is longer, and pond
Test is a kind of passive control by the early floating motion for making wave formation.For the active control mould of offshore floating type structure motion
It is quasi-, still lack effective test method.
Summary of the invention
The present invention provides a kind of simulator of offshore floating type structure motion, the sea that can be used to connect deep-sea pipeline
Multifreedom motion simulation, dynamic demonstration and the Numerical Validation of floating structure, and then completed according to true sea situation monitoring data
Scaling factor makes test have more reliability.Technical solution is as follows:
A kind of simulation system of offshore floating type structure motion, comprising: mechanical structure, the floating being connected to below mechanical structure
Structural model and drive control structure, it is characterised in that:
The mechanical structure includes X-axis mobile device, Y-axis mobile device, Z axis mobile device, steering mechanism and five pieces
Level board, five blocks of level boards are respectively suspension ontology, reversing frame, restocking, X to plate and Y-direction plate from top to bottom, hang ontology and
Reversing frame hangs the matched between ontology and reversing frame by retaining ring and with retaining ring to support Z axis mobile device
One locking device is connected；
Steering mechanism is connected with suspension ontology, then the outside of Z axis mobile device sleeve is nested in via rolling bearing, outstanding
It hangs and is fixedly connected with the second locking device on the upside of ontology, the bottom end of the second retaining mechanism gets close to reversing frame, is nibbled with periphery pinion gear
Unification screw is fastened on the gear wheel on the outside of sleeve, to realize mechanical interlocking；
Z axis motor output torque is transmitted to ball screw and realizes rotation by shaft joint in sleeve, and the nut of ball screw is solid
It is scheduled in restocking, with the transmitting of torque, restocking generates the displacement of vertical direction to realize that Z axis moves；It is fixed in restocking
There is at least one straight optical axis, straight optical axis realizes connection by the linear bearing being fixed on reversing frame；
Two sides below restocking are fixed with X-axis slide rail, and X-axis is open linear bearing fixed on sliding rail, and intermediate, X is logical to plate
It crosses adjustable opening bearing block to be fixed on X-axis opening linear bearing, adjustable opening bearing block being capable of shifting with from X to ball screw
It moves and is moved along X-axis opening linear bearing, to realize that X-axis moves；Y-axis similarly, by Y-axis sliding rail is fixed on X to below plate
Two sides, Y-axis opening linear bearing are affixed among sliding rail, and Y-direction plate is fixed on Y-axis opening directly by adjustable opening bearing block
Spool is held, and adjustable opening bearing block can be moved with the movement of Y-direction ball screw along linear bearing, to realize Y-axis
Movement；
X-axis mobile device is connect by restocking support plate with restocking, and Y-axis mobile device is connected by Y-direction support plate and X to plate
It connects.
Preferably, the drive control structure includes servo motor, X, Y, Z axis respectively to driver, motion controller
With upper industrial personal computer, motion controller carries out active control by connecting cable come the driving to each axis, motor, to realize machine
The movement of tool structure is simulated.The floating structure model includes being connected by universal joint with mechanical structure, is fixed thereon
There is acceleration transducer, the signal of acceleration transducer acquisition is admitted to upper industrial personal computer.
The present invention has the positive effect that due to taking above technical scheme:
(1) present invention is able to carry out offshore floating type structural model test different under complicated sea situation, without in water
Carry out test under environment, so that operation wants simple and easy, testing expenses greatly reduce；
(2) present invention connect the motion state that can directly control floating structure model, phase with model using mechanical structure
Than in basin test by make wave realization offshore floating type structure motion be passively and have certain hysteresis, more directly
It is connected to effect；
(3) present invention uses ball lead screw drive mechanism, has precision height, service life length, stable working, reliability height etc. excellent
Point.The screw rod of the transmission mechanism can drive housing to axially move within the scope of normal travel, and when housing moves to stroke end
Behind end, screw rod may continue to not stall and move and housing can be automatically stopped axial movement, have the advantages that simple and reliable；
(4) present invention can simulate the dynamic response under different sea situations by adjusting the kinematic parameter in driver.No
The structural dynamic response of same frequency, amplitude is also based on different floating structure patterns (FPSO, TLP, semi-submersible type etc.) generation
, furthermore, by adjusting the scale bar of model, more violent structural dynamic response can be simulated.
Detailed description of the invention
Fig. 1-4 be respectively the looking up of mechanical mechanism, it is right depending on, face and left view.
Fig. 5 is the structural schematic diagram of simulator of the present invention
Fig. 6 is the schematic diagram of drive control process
The explanation of figure label: 1-X spindle motor；2- connector sleeve；3-X is to ball screw；4- hangs ontology；5-Y spindle motor；
6- connector sleeve；7-Y is to ball screw；8-Y axis sliding rail；9-X axis sliding rail；10- retaining mechanism；11- restocking；12- universal joint；
13-Y is to plate；14-Z spindle motor；15- retaining ring；16- reversing frame；17- straight optical axis；18- shaft joint；19- bearing block；20-X
Axis opening linear bearing；21- adjustable opening bearing block；22- acceleration transducer；23-Y axis opening linear bearing；24-X is to plate；
25- shaft joint；26-Z shaft moving device sleeve；27- steering mechanism；28- linear bearing；29- pinion gear；30- gear wheel；31-
Locking device；32- bearing block；33- ball screw；34- shaft joint；35- restocking support plate；36-Y is to support plate；37- machinery knot
Structure；38- floating structure model.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
The invention proposes a kind of simulators of offshore floating type structure motion, and as shown in Figs. 1-5, which includes: a.
Mechanical structure 37, b. drive control structure, c. floating structure model 38, it is characterised in that:
The mechanical structure includes X-axis mobile device (including X-axis motor 1, shaft joint 34 and its connector sleeve 2, ball wire
Bar 3 etc.), Y-axis mobile device (including y-axis motor 5, shaft joint 18 and its connector sleeve, ball screw 7 etc.), Z axis mobile device
(including Z axis motor 14, shaft joint 25 and its connector sleeve, ball screw 33 etc.) can be manually rotated part (including retaining mechanism 10&
31, ontology 4 is hung).Main structure is made of five blocks of level boards, from top to bottom be respectively suspension ontology 4, reversing frame 16, restocking 11,
X is to plate 24 and Y-direction plate 13.Suspension ontology 4 and reversing frame 16 are mainly used to support Z axis mobile device, due to real by rotation
Existing Z axis displacement may result in the deflection of reversing frame 16, therefore retaining ring is added between suspension ontology 4 and reversing frame 16
15, it is connected by screw with gasket, corresponds to the then external outside in retaining ring 15 of locking device 10.Steering mechanism 27 passes through screw
Connection is mounted on suspension ontology 4, then the outside of Z axis mobile device sleeve 26 is nested in via rolling bearing.Due to retaining ring
15 are arranged in the outer rim of reversing frame 16, and lock ability is limited, then add another locking device 31 on the upside of suspension ontology.The dress
It sets to be connected by screw to and is secured across suspension ontology 4, bottom end gets close to reversing frame 16, engages screw connection with periphery pinion gear 29
The gear wheel 30 being fixed on the outside of sleeve, to realize mechanical interlocking.Shaft joint 25 transmits Z axis motor output torque in sleeve
It realizes and rotates to ball screw 33, the nut of ball screw is fixed in restocking, and with the transmitting of torque, restocking generates vertical side
To displacement to realizing that Z axis moves.But it is insecure for only bearing entire substructure by ball screw 33, therefore upper
Four straight optical axis 17, which are arranged, in the quadrangle of frame simultaneously makes to be screwed, and straight optical axis 17 passes through the straight line that is fixed on reversing frame 16
Bearing 28 realizes connection.X-axis slide rail 9 is connected by screw to the two sides being fixed below restocking, opens linear bearing 20 and passes through
Screw is affixed among sliding rail.Adjustable opening bearing block 21 is mounted on the outside of linear bearing, and is connected and fixed using screw
To X on plate 24, bearing block can be moved along linear bearing 20 with X to the movement of ball screw 3, to realize that X-axis moves.
Y-axis sliding rail 8 similarly, is connected by screw to the two sides for being fixed on X to 24 lower section of plate, opens linear bearing 23 and pass through spiral shell by Y-axis
Nail is affixed among sliding rail.Adjustable opening bearing block is mounted on 23 outside of linear bearing, and is affixed to Y using screw
To on plate 13, bearing block can be moved with the movement of Y-direction ball screw 7 along linear bearing 23, to realize that Y-axis moves.By
It is connected directly between the end of ball screw in each spindle motor, the stability of structure is had adverse effect, it is therefore desirable to support
Plate is fixed, and X-axis mobile device is connect by restocking support plate 35 with restocking 11, and Y-axis mobile device is supported by Y-direction
Plate 36 and X are connected to plate 24.
The drive control structure includes servo motor, X, Y, Z axis respectively to driver, motion controller, upper work
Control machine, connecting cable is correspondingly connected on X, Y, Z axis motor and application software exploitation etc. certainly.Use self-developed application software
Realize the input of exercise data and the Real-time Feedback monitoring of motion controller, motion controller is by connecting cable come to each axis
Driving, motor carry out active control, to realize the movement simulation of structure.
The floating structure model includes the simulation pipeline of scaling factor platform or floating production unit and its surrounding connection.
Floating structure model is connected by universal joint 12 with mechanical structure.Acceleration transducer 22 is mounted on according to conventional coordinates
38 top of floating structure model or 37 bottom of mechanical structure.
Step S1, it according to the offshore floating type structure size and shrinkage scale of destination item, chooses and manufactured size is suitably extra large
Floating type structural model 38, model here can be tension leg platform (TLP), Spar platform, semisubmersible platform, FPSO, offshore wind turbine
Etc. a variety of floating structure patterns；
Step S2, the connection and installation situation of mechanical structure 37 are checked, especially whether retaining mechanism 7, which locks, (prevents machine
Because of Z axis motor 14 spontaneous rotation occurs for tool structure), and it is appropriate to being smeared on ball screw 3&7 and rolling bearing contact surface
Oil lubricating (protection mechanism)；
Step S3, the position of mechanical structure 37 is checked, if in each dead-center position to plate (Y-direction plate 36, X to plate 24)
(i.e. midpoint) is marked convenient for observation calibration using mark paster, if being zeroed, continues next step；If no, needing
Carry out reset zero；
Step S4, the connection status of acceleration transducer 22 is checked, it is ensured that connect with data collecting instrument using cable, and will
Each channel output end mouth of data collecting instrument accesses computer, equipment connection is selected in matched data monitoring software, to realize
Input-feedback-output multiple-authentication；
Step S5, picture pick-up device is installed, focusing to model zero-bit, preferably make lens axis at it on the same line,
Convenient for subsequent image analysing computer；
Step S6, upper industrial personal computer is opened, the exercise data converted in advance is imported in application program (according to model
Scaling factor is handled), its corresponding desired movement curve, the ginseng as subsequent Real-time Feedback can be obtained on a user interface
It examines；
Step S7, in data collecting instrument software kit, sampling operation is carried out, characterizes the real-time number of acceleration transducer 22
According to；
Step S8, above-mentioned input curve is run, motion controller drives each axis driving and motor operating, realizes the fortune of three axis
Dynamic model is quasi-, while being recorded using picture pick-up device to simulation process；
Step S9, in operational process, can the simulation process in software interface for movement suspended, continued
Deng operation, after pause, new modeling scheme is terminated or restarted after carrying out reset operation；
Step S10, after end of run, data collecting instrument sampling operation is terminated, exports sampled result；Picture pick-up device is closed,
Storing image data；Real-time Feedback exercise data in application software is exported, general supply is closed, terminates the test simulation stage；
Step S11, data are handled.Image data is handled using relevant treatment software, obtains the true fortune of model
Dynamic state, and compare 15 monitoring data of input data, real-time feedback data and acceleration transducer, it was demonstrated that move simulation can
By property.
Step S12, the movement overall process high-precision analog by above step to offshore floating type structure under complicated sea situation
Test, dynamic monitoring and verifying, and then it is convenient for the progress of subsequent related work, guarantee that structure is safe and reliable.
The present invention is able to carry out the preview of a variety of offshore floating type structure motion processes under complicated sea situation, without under water environment
Carry out test, so that operation wants simple and easy, testing expenses greatly reduce；Analog motion platform range of motion in three dimensions, X, Y-axis are flat
Range ± 50mm is moved, Z axis top/bottom latitude ± 20mm after amplifying according to model scale, covers all offshore floating type structures substantially
Limiting condition requirement；Offshore floating type structural model covers tension leg platform (TLP), Spar platform, semisubmersible platform, FPSO, offshore wind turbine
Etc. a variety of floating structure patterns；Driving control system has the Bit andits control precision of 4ms, and numerical value is accurate to 0.0005mm, tool
There is good performance.
Although above in conjunction with figure, invention has been described, and the invention is not limited to above-mentioned specific embodiment parties
Formula, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are in this hair
Under bright enlightenment, without deviating from the spirit of the invention, many variations can also be made, these belong to guarantor of the invention
Within shield.
Claims (3)
1. a kind of simulation system of offshore floating type structure motion, comprising: mechanical structure, the floating knot being connected to below mechanical structure
Structure model and drive control structure, it is characterised in that:
The mechanical structure includes X-axis mobile device, Y-axis mobile device, Z axis mobile device, steering mechanism and five pieces of levels
Plate, five blocks of level boards are respectively suspension ontology, reversing frame, restocking, X to plate and Y-direction plate from top to bottom, hang ontology and revolution
Frame is hung between ontology and reversing frame to support Z axis mobile device through retaining ring and the first lock matched with retaining ring
Tight device is connected；
Steering mechanism is connected with suspension ontology, then the outside of Z axis mobile device sleeve is nested in via rolling bearing, is hanging this
It is fixedly connected with the second locking device on the upside of body, the bottom end of the second retaining mechanism gets close to reversing frame, with periphery pinion gear engagement one
Screw is fastened on the gear wheel on the outside of sleeve, to realize mechanical interlocking；
Z axis motor output torque is transmitted to ball screw and realizes rotation by shaft joint in sleeve, and the nut of ball screw is fixed on
In restocking, with the transmitting of torque, restocking generates the displacement of vertical direction to realize that Z axis moves；Be fixed in restocking to
A few straight optical axis, straight optical axis realize connection by the linear bearing being fixed on reversing frame；
Two sides below restocking are fixed with X-axis slide rail, and X-axis is open linear bearing fixed on sliding rail, and intermediate, X passes through to plate can
A mouthful bearing block is tuned to open to be fixed on X-axis opening linear bearing, adjustable opening bearing block can with X to the movement of ball screw and
It is moved along X-axis opening linear bearing, to realize that X-axis moves；Y-axis similarly, by Y-axis sliding rail is fixed on X to the two sides below plate,
Y-axis opening linear bearing is affixed among sliding rail, and Y-direction plate is fixed on Y-axis opening linear axis by adjustable opening bearing block
It holds, adjustable opening bearing block can be moved with the movement of Y-direction ball screw along linear bearing, to realize that Y-axis moves；
X-axis mobile device is connect by restocking support plate with restocking, and Y-axis mobile device is connected by Y-direction support plate and X to plate.
2. system according to claim 1, which is characterized in that the drive control structure includes servo motor, X, Y, Z
Axis respectively to driver, motion controller and upper industrial personal computer, motion controller is by connecting cable come the driving to each axis, electricity
Machine carries out active control, to realize the movement simulation of mechanical structure.
3. system according to claim 1, the floating structure model includes passing through universal joint and mechanical structure phase
Connection, is fixed with acceleration transducer thereon, and the signal of acceleration transducer acquisition is admitted to upper industrial personal computer.
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| CN201811497113.1A CN109625166A (en) | 2018-12-07 | 2018-12-07 | A kind of simulation system of offshore floating type structure motion |
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| CN201811497113.1A CN109625166A (en) | 2018-12-07 | 2018-12-07 | A kind of simulation system of offshore floating type structure motion |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115503903A (en) * | 2022-11-02 | 2022-12-23 | 天津大学 | Platform device for simulating movement of single point mooring buoy |
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