CN113970421B - Experimental device for measuring stress of underwater manifold and implementation method - Google Patents
Experimental device for measuring stress of underwater manifold and implementation method Download PDFInfo
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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 provides an experimental device and an implementation method for measuring the stress of an underwater manifold, wherein the experimental device for measuring the stress of the underwater manifold comprises a trailer system and at least four force measuring devices, wherein the trailer system is used for dragging the underwater manifold to move, one end of each force measuring device is respectively connected with the trailer system, the other end of each force measuring device can be respectively connected with the underwater manifold, the force measuring devices are used for measuring the pulling force when the trailer system drags the underwater manifold to move, and the connecting positions of the force measuring devices and the trailer system correspond to the connecting positions of the force measuring devices and the underwater manifold. The invention has simple structure and convenient operation, and can accurately measure the stress of the underwater manifold.
Description
Technical Field
The invention relates to the technical field of hydrodynamic coefficients, in particular to an experimental device for measuring stress of an underwater manifold and an implementation method.
Background
The underwater manifold hydrodynamic performance test is a means for determining related data and data required in manifold model performance research and actual manifold design by using a physical model method, and can perform systematic estimation and evaluation on the comprehensive performance of the manifold. The manifold model test not only can estimate the actual manifold stress through the stress of the manifold model in different speed domains in water, but also can deeply understand the physical phenomenon of the manifold in water. The method can promote further development of theoretical engineering, enable a calculation method applied in engineering calculation to be continuously perfected, improve theoretical research and engineering design capacity, optimize manifold performance and improve localization of deep water oil gas development equipment.
In the prior art, resistance measurement of ships or other underwater equipment (such as an underwater manifold) is performed through a strain gauge, but the strain gauge force measurement has larger nonlinearity for large strain, and the output signal is weaker, so that larger experimental result deviation is easy to cause.
In order to improve the working efficiency and safety of ocean platform operators, an experimental device and an implementation method for measuring the stress of the underwater manifold, which have the advantages of simple structure and convenient operation, and can accurately measure the stress of the underwater manifold, are developed, and the experimental study on the hydrodynamic force of the underwater manifold is very necessary.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an experimental device and an implementation method for measuring the stress of an underwater manifold, which have the advantages of simple structure and convenient operation, and can accurately measure the stress of the underwater manifold.
In a first aspect, the invention provides an experimental device for measuring the stress of an underwater manifold, which comprises a trailer system and at least four force measuring devices, wherein the trailer system is used for dragging the underwater manifold to move, one end of each force measuring device is respectively connected with the trailer system, the other end of each force measuring device can be respectively connected with the underwater manifold, the force measuring devices are used for measuring the tensile force when the trailer system drags the underwater manifold to move, and the connection positions of the force measuring devices and the trailer system correspond to the connection positions of the force measuring devices and the underwater manifold.
In one embodiment, the trailer system includes a rail, a trailer disposed on the rail and movable along the rail, and a control system electrically coupled to the trailer for controlling movement of the trailer.
The beneficial effects of adopting the embodiment are as follows: the trailer moves along the guide rail, so that the motion is stable and the precision is high.
In one embodiment, the force measuring device comprises a tension sensor, one end of the tension sensor is connected with the trailer system, the other end of the tension sensor is connected with the underwater manifold through a steel rope, and the tension sensor is used for sensing tension parameters born by the steel rope so as to measure tension born by the force measuring device when the underwater manifold moves.
The beneficial effects of adopting the embodiment are as follows: the tension sensor has high precision, wide measuring range, long service life, simple structure and good frequency response characteristic, and can work under severe conditions.
In one embodiment, the force measuring device further comprises a turnbuckle disposed between the tension sensor and the steel strand, the turnbuckle for tightening the steel strand and adjusting the tightness of the steel strand.
The beneficial effects of adopting the embodiment are as follows: the tightness of the steel strand can be adjusted by the turnbuckle.
In one embodiment, the force measuring device further comprises a tension spring, wherein the tension spring is arranged between the turnbuckle and the steel strand, and the tension spring is used for playing a buffering role to avoid damage to the tension sensor.
The beneficial effects of adopting the embodiment are as follows: the tension spring plays a role in buffering, and damage to the tension sensor caused by overlarge tension is avoided.
In a second aspect, the invention also provides an experimental method for measuring the stress of an underwater manifold, comprising the following steps:
when the underwater manifold is in a still water balance state, restraining two degrees of freedom of heave and sway of the underwater manifold, controlling the trailer system to perform first movement, and measuring first resistance of the underwater manifold during the first movement;
rotating the underwater manifold by 90 degrees clockwise in a plane parallel to a horizontal plane, controlling the trailer system to perform a second movement, and measuring a second resistance of the underwater manifold during the second movement;
and rotating the underwater manifold by 90 degrees clockwise in a plane vertical to the horizontal plane, controlling the trailer system to perform a third movement, and measuring the third resistance of the underwater manifold during the third movement.
In one embodiment, measuring the resistance of the subsea manifold at each movement comprises the steps of:
acquiring a measured value of each force measuring device when the trailer system moves in a stable state;
acquiring an included angle between each force measuring device and projection of each force measuring device on the trailer system movement plane and an included angle between projection of each force measuring device on the trailer system movement plane and the trailer system movement direction;
calculating the underwater manifold resistance according to the measured value of the force measuring device, the included angle between the force measuring device and the projection of the force measuring device on the moving plane of the trailer system and the included angle between the projection of the force measuring device on the moving plane of the trailer system and the moving direction of the trailer system by the following relation:
wherein k is one half of the total number of force measuring devices, k being greater than or equal to 2,F d Resistance to underwater manifold, F n For the n-th measurement value of the force measuring device, θ n Is the nthThe angle alpha between the force measuring device and its projection on the plane of motion of the trailer system n And the included angle between the projection of the nth force measuring device on the moving plane of the trailer system and the moving direction of the trailer system is set.
The beneficial effects of adopting the embodiment are as follows: because the measured value of the force measuring device is not the resistance value of the underwater manifold, the measured value of the force measuring device needs to be converted and differenced by a trigonometric function to obtain the resistance value of the underwater manifold.
In one embodiment, the method for obtaining the included angle between each force measuring device and the projection of each force measuring device on the moving plane of the trailer system and the included angle between the projection of each force measuring device on the moving plane of the trailer system and the moving direction of the trailer system comprises the following steps:
acquiring the length of the force measuring device when the trailer system moves in a stable state;
obtaining a vertical distance between a connection point of the force measuring device and the trailer system and a connection point of the force measuring device and the underwater manifold;
according to the length of the force measuring device and the vertical distance, calculating an included angle between the force measuring device and projection of the force measuring device on the motion plane of the trailer system through a first inverse trigonometric function;
acquiring the projection length of the force measuring device on the motion plane of the trailer system;
acquiring a horizontal distance between a connection point of the force measuring device and the trailer system and a moving direction of the trailer system;
and calculating an included angle between the projection of the force measuring device on the moving plane of the trailer system and the moving direction of the trailer system through a second inverse trigonometric function according to the length of the projection of the force measuring device on the moving plane of the trailer system and the horizontal distance.
The beneficial effects of adopting the embodiment are as follows: and calculating an included angle between the force measuring device and the projection of the force measuring device on the moving plane of the trailer system and an included angle between the projection of the force measuring device on the moving plane of the trailer system and the moving direction of the trailer system through the first inverse trigonometric function and the second inverse trigonometric function.
In one embodiment, the length of the force measuring device is calculated according to a preset calculation to obtain the motion stability of the trailer system:
wherein, the pre-design formula is: l (L) n ＝L n’ +F n /K n ，L n For the length of the nth force measuring device in the steady state of movement of the trailer system, L n’ For the initial length of the nth force measuring device, F n For the n-th measurement value of the force measuring device, K n The stiffness coefficient of the tension spring of the nth force measuring device.
The beneficial effects of adopting the embodiment are as follows: and (5) obtaining the elongation of the tension spring by using the stiffness coefficient of the tension spring, and further obtaining the elongation of the force measuring device when the trailer system moves in a stable state.
In one embodiment, the first inverse trigonometric function has the following formula:
θ n for the angle between the nth force measuring device and its projection on the plane of motion of the trailer system, d n A vertical distance between a connection point of the trailer system and the nth force measuring device and a connection point of the nth force measuring device and the underwater manifold;
the calculation formula of the second inverse trigonometric function is as follows:
α n for the included angle between the projection of the nth force measuring device on the moving plane of the trailer system and the moving direction of the trailer system, f n For the nth connection point of the trailer system and the force measuring device to be carried with the trailer systemHorizontal distance between the moving directions.
The beneficial effects of adopting the embodiment are as follows: and calculating an included angle between the force measuring device and the projection of the force measuring device on the moving plane of the trailer system and an included angle between the projection of the force measuring device on the moving plane of the trailer system and the moving direction of the trailer system through the first inverse trigonometric function and the second inverse trigonometric function.
Compared with the prior art, the invention has the advantages that:
(1) Simple structure, convenient operation can accurate measurement underwater manifold atress.
(2) And accurately obtaining the resistance of the underwater manifold at different speeds by utilizing the conversion and difference of the trigonometric function.
(3) And the included angle between the force measuring device and the projection of the force measuring device on the moving plane of the trailer system and the included angle between the projection of the force measuring device on the moving plane of the trailer system and the moving direction of the trailer system are obtained by using the inverse trigonometric function, so that independent measurement is not needed, and the measurement efficiency is improved.
The above-described features may be combined in various suitable ways or replaced by equivalent features as long as the object of the present invention can be achieved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 shows a schematic diagram of an experimental setup for measuring the stress of an underwater manifold;
FIG. 2 shows a force analysis diagram of an underwater manifold;
FIG. 3 shows a schematic view of the angle of a second force measuring device;
fig. 4 shows a projection of the second force measuring device onto the plane of movement of the trailer system;
FIG. 5 shows a schematic flow diagram of an experimental method for measuring the stress of an underwater manifold;
in the drawings, like parts are designated with like reference numerals. The figures are not to scale.
10-an experimental device for measuring the stress of an underwater manifold; 11-a trailer system; 111-guide rails; 113-a trailer; 115-G clamp; 13-a force measuring device; 131-a tension sensor; 133-turnbuckle; 135-tension springs; 137-steel strand; 139-tension spring buckle with lock; 20-subsea manifold.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
As shown in fig. 1, an experimental device 10 for measuring the stress of an underwater manifold comprises a trailer system 11 and at least four force measuring devices 13, wherein the trailer system 11 is used for dragging the underwater manifold to move, one end of each force measuring device 13 is respectively connected with the trailer system 11, the other end of each force measuring device 13 can be respectively connected with the underwater manifold 20, the force measuring devices 13 are used for measuring the tensile force when the trailer system 11 drags the underwater manifold 20 to move, and the connection positions of the force measuring devices 13 and the trailer system 11 correspond to the connection positions of the force measuring devices 13 and the underwater manifold 20.
Specifically, in this embodiment, the underwater manifold 20 is an underwater manifold model, which is suitable for a towing tank with a water depth not exceeding 3.5 meters, and is made of a high-strength material, so as to avoid deformation in the experimental process.
In one embodiment, the underwater manifold model is of a cuboid structure, and four corners of the top surface of the underwater manifold model are respectively provided with hanging rings.
The trailer system 11 includes a guide rail 111, a trailer 113, and a control system, where the trailer 113 is disposed on the guide rail 111 and can move along the guide rail 111, and the control system is electrically connected to the trailer 113, and the control system is used to control the movement of the trailer 113.
Specifically, in this embodiment, the guide rail 111 is a precise guide rail, and the accuracy of the speed of the control system for controlling the trailer 113 to move along the guiding direction of the guide rail 111 can reach 0.1m/s.
The guide rail 111 is horizontally arranged above the towing tank, the trailer 113 moves horizontally along the guide rail 111, a plurality of sections of beams are arranged on the bottom surface of the trailer 113, the G-shaped clamp 115 is fixed on the plurality of sections of beams, and the G-shaped clamp 115 plays a role of a joint and is used for receiving the underwater manifold model.
In one embodiment, the bottom surface of the trailer 113 is rectangular in configuration, and a plurality of G-clips 115 are mounted on each of the four corners and four sides of the bottom surface of the trailer 113.
In one embodiment, the plurality of G-clips 115 are equally spaced.
The force measuring device 13 comprises a tension sensor 131, a turnbuckle 133 and a tension spring 135, one end of the tension sensor 131 is connected with the trailer system 11, the other end of the tension sensor is connected with the underwater manifold 20 through a steel strand 137, and the tension sensor 131 is used for sensing tension parameters received by the steel strand 137 so as to measure tension received by the force measuring device 13 when the underwater manifold 20 moves.
The turnbuckle 133 is provided between the tension sensor 131 and the steel strand 137, and the turnbuckle 133 is used to adjust the tightness of the steel strand 137.
The tension spring 135 is arranged between the turnbuckle 133 and the steel strand 137, and the tension spring 135 is used for playing a buffering role to avoid damage to the tension sensor 131.
Specifically, in this embodiment, the bottom surface of the trailer 113 is in a rectangular structure, the four corners of the bottom surface of the trailer 113 are respectively provided with a G-shaped clamp 115, the four G-shaped clamps 115 are in one-to-one correspondence with the four hanging rings of the underwater manifold model, and each G-shaped clamp 115 is correspondingly connected with a force measuring device 13.
The force measuring device 13 comprises a tension sensor 131, a turnbuckle 133, a tension spring 135 and a steel strand 137 which are sequentially connected, wherein the tension sensor 131, the turnbuckle 133, the tension spring 135 and the steel strand 137 are respectively connected through a tension spring buckle 139 with a lock.
In one embodiment, one end of the tension sensor 131 is connected with the G-shaped clamp 115 through a locked tension spring fastener 139, the other end of the tension sensor 131 is connected with one end of a turnbuckle 133 through the locked tension spring fastener 139, the other end of the turnbuckle 133 is connected with one end of a tension spring 135 through the locked tension spring fastener 139, the other end of the tension spring 135 is connected with one end of a steel stranded rope 137, and the other end of the steel stranded rope 137 is connected with a hanging ring corresponding to the G-shaped clamp 115 on the underwater manifold model through the locked tension spring fastener 139.
In one embodiment, the positions of the tension sensor 131, the turnbuckle 133, and the tension spring 135 may be adjusted.
In one embodiment, the steel strand 137 may be connected to an underwater manifold model, tension spring 135 or other component by inserting one end of the steel strand 137 through the component to be connected, and then locking the passed and non-passed portions of the steel strand 137 by a U-clamp.
In one embodiment, the experimental apparatus 10 for measuring the stress of the underwater manifold further comprises a six-component balance for measuring various hydrodynamic parameters of the underwater manifold model in different experimental conditions, and comprehensively characterizing the hydrodynamic performance of the underwater manifold model.
Referring to fig. 5 in combination, the present invention provides an experimental method for measuring the stress of an underwater manifold, which is suitable for an experimental apparatus 10 for measuring the stress of an underwater manifold, and the method includes steps S110 to S130.
Step S110, when the underwater manifold 20 is in the state of still water balance, restraining two degrees of freedom of heave and heave of the underwater manifold 20, and controlling the trailer system 11 to perform a first movement, and measuring a first resistance of the underwater manifold 20 during the first movement.
Step S120, rotating the underwater manifold 20 clockwise by 90 ° in a plane parallel to the horizontal plane, controlling the trailer system 11 to perform a second movement, and measuring a second resistance of the underwater manifold 20 during the second movement.
Step S130, rotating the underwater manifold 20 clockwise by 90 ° in a plane perpendicular to the horizontal plane, controlling the trailer system 11 to perform a third movement, and measuring a third resistance of the underwater manifold 20 during the third movement.
Specifically, in this embodiment, when the underwater manifold model is in a static water balance state, two degrees of freedom of heave and heave of the underwater manifold model are constrained, and the trailer 113 is controlled to move (or to move in amplitude or to move periodically) at different speeds along the guiding direction of the guide rail 111, and the trailer 113 drags the underwater manifold model to synchronously move, so as to perform a heave experiment of the underwater manifold model, and the resistance of the underwater manifold model in the heave experiment is measured and recorded. The first resistance is resistance when the underwater manifold model performs a heave experiment.
After the heave experiment of the underwater manifold model is completed, the underwater manifold model is rotated clockwise by 90 degrees in a plane parallel to the horizontal plane, the trailer 113 is controlled to move (or move in an amplitude or periodically move) at different speeds along the guiding direction of the guide rail 111, the trailer 113 drags the underwater manifold model to synchronously move, so that the heave experiment of the underwater manifold model is performed, and the resistance of the underwater manifold model in the heave experiment is measured and recorded. The second resistance is resistance when the underwater manifold model performs a sway experiment.
After the heave experiment of the underwater manifold model is completed, the underwater manifold model is rotated clockwise by 90 degrees in a plane vertical to the horizontal plane, then the trailer 113 is controlled to move (or move in an amplitude or periodically move) at different speeds along the guiding direction of the guide rail 111, the trailer 113 drags the underwater manifold model to synchronously move, so that the heave experiment of the underwater manifold model is performed, and the resistance of the underwater manifold model in the heave experiment is measured and recorded. The third resistance is resistance when the underwater manifold model performs a cross-oscillation experiment.
Wherein the resistance of the underwater manifold 20 at each movement is measured in step S110, step S120 and step S130, including steps S210 to S230.
In step S210, the measured value of each force measuring device 13 is obtained when the trailer system 11 is in a steady state of motion.
In step S220, the angle between each force measuring device 13 and its projection on the plane of movement of the trailer system 11 and the angle between the projection of each force measuring device 13 on the plane of movement of the trailer system 11 and the direction of movement of the trailer system 11 are obtained.
Step S230, calculating the resistance of the underwater manifold 20 according to the measured value of the force measuring device 13, the included angle between the force measuring device 13 and its projection on the moving plane of the trailer system 11, and the included angle between the projection of the force measuring device 13 on the moving plane of the trailer system 11 and the moving direction of the trailer system 11, by the following relation:
where k is one half of the total number of force-measuring devices 13, k being greater than or equal to 2,F d Resistance to the subsea manifold 20, F n For the measurement value θ of the nth force measuring device 13 n For the angle alpha between the nth force measuring device 13 and its projection on the plane of movement of the trailer system n Is the angle between the projection of the nth force measuring device 13 on the plane of movement of the trailer system 11 and the direction of movement of the trailer system 11.
As shown in fig. 2, in particular, in the present embodiment, the measurement of the stress of the underwater manifold 20 includes the measurement of the first resistance, the second resistance, and the third resistance of the underwater manifold model.
Since the measured values of the force measuring devices 13 are not the resistance values of the underwater manifold 20, the measured values of the four force measuring devices 13 need to be converted and differenced by a trigonometric function, and finally the resistance values of the underwater manifold 20 can be obtained.
The resistance of the underwater manifold 20 during each movement is measured by first acquiring the measured values of the four tension sensors 131, the angle between each force measuring device 13 and its projection on the plane of movement of the trailer system 11, and the angle between the projection of each force measuring device 13 on the plane of movement of the trailer system 11 and the direction of movement of the trailer system 11 when the trailer 113 is in a steady state (i.e. when the underwater manifold model is running to a steady state).
And calculating the resistance of the underwater manifold model by the following relation:
F d ＝F1*cosθ 1 cosα 1 +F2*cosθ 2 cosα 2 -(F3*cosθ 3 cosα 3 +F4*cosθ 4 cosα 4 )
the resistances of the underwater manifold model (i.e., the first resistance, the second resistance, and the third resistance) are respectively obtained.
The step S220 of obtaining the angle between each force measuring device 13 and its projection on the moving plane of the trailer system 11 and the angle between the projection of each force measuring device 13 on the moving plane of the trailer system 11 and the moving direction of the trailer system 11 includes steps S221 to S226.
Step S221, obtaining the length of the force measuring device 13 when the trailer system 11 is in a steady state of motion.
In step S322, a vertical distance between the connection point of the force measuring device 13 and the trailer system 11 and the connection point of the force measuring device 13 and the subsea manifold 20 is obtained.
In step S223, according to the length and the vertical distance of the force measuring device 13, the included angle between the force measuring device 13 and its projection on the moving plane of the trailer system 11 is calculated by the first inverse trigonometric function.
In step S224, the length of the projection of the force measuring device 13 onto the plane of movement of the trailer system 11 is obtained.
In step S225, a horizontal distance between the connection point of the force measuring device 13 and the trailer system 11 and the direction of movement of the trailer system 11 is obtained.
In step S226, according to the length and the horizontal distance of the projection of the force measuring device 13 on the moving plane of the trailer system 11, the angle between the projection of the force measuring device 13 on the moving plane of the trailer system 11 and the moving direction of the trailer system 11 is calculated by the second inverse trigonometric function.
Specifically, in this embodiment, the trailer 113 moves horizontally along the guide rail 111, and the underwater manifold model is pulled to move horizontally along a straight line, so that in a steady state of movement of the trailer system 11, the vertical distance between the connection point of the force measuring device 13 and the trailer system 11 and the connection point of the force measuring device 13 and the underwater manifold 20, and the horizontal distance between the connection point of the force measuring device 13 and the trailer system 11 and the direction of movement of the trailer system 11 are the same as the vertical distance between the connection point of the force measuring device 13 and the trailer system 11 and the connection point of the force measuring device 13 and the underwater manifold 20 and the horizontal distance between the connection point of the force measuring device 13 and the trailer system 11 and the direction of movement of the trailer system 11 before the trailer system 11 moves.
Therefore, the invention only needs to perform relevant measurement before the trailer system 11 moves, thereby improving the measurement efficiency.
When the motion stable state of the trailer system 11 is obtained according to a preset calculation formula, the length of the force measuring device 13 is set as follows: l (L) n ＝L n’ +F n /K n ，L n For the length of the nth force measuring device 13 in steady state of movement of the trailer system 11, L n’ For the initial length of the nth force-measuring device 13, F n For the measurement value, K, of the nth force-measuring device 13 n Is the stiffness coefficient of the tension spring 135 of the nth force measuring device 13.
The calculation formula of the first inverse trigonometric function is as follows:
θ n for the angle d between the nth force-measuring device 13 and its projection onto the plane of movement of the trailer system 11 n Is the vertical distance between the connection point of the trailer system 11 to the nth force measuring device 13 and the connection point of the nth force measuring device 13 to the subsea manifold model.
The second inverse trigonometric function is calculated as:
α n for the angle between the projection of the nth force measuring device 13 on the plane of movement of the trailer system 11 and the direction of movement of the trailer system 11, f n Is the horizontal distance between the connection point of the nth trailer system 11 and the force measuring device 13 and the direction of movement of the trailer system 11.
As shown in fig. 3 and 4, in particular, in this embodiment, the length of the 2 nd force measuring device 13 in the steady state of movement of the trailer system 11: l (L) 2 ＝L 2, +F 2 /K 2
The angle between the 2 nd force measuring device 13 and its projection on the plane of movement of the trailer system 11:
the angle between the projection of the 2 nd force measuring device 13 on the plane of movement of the trailer system 11 and the direction of movement of the trailer system 11:
in the description of the present invention, it should be understood that the terms "upper," "lower," "bottom," "top," "front," "rear," "inner," "outer," "left," "right," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (9)
1. An experimental method for measuring stress of an underwater manifold is characterized by comprising the following steps:
when the underwater manifold is in a still water balance state, restraining two degrees of freedom of heave and sway of the underwater manifold, controlling a trailer system to perform first movement, and measuring first resistance of the underwater manifold during the first movement;
rotating the underwater manifold by 90 degrees clockwise in a plane parallel to a horizontal plane, controlling the trailer system to perform a second movement, and measuring a second resistance of the underwater manifold during the second movement;
rotating the underwater manifold by 90 degrees clockwise in a plane vertical to the horizontal plane, controlling the trailer system to perform a third movement, and measuring a third resistance of the underwater manifold during the third movement;
measuring the resistance of the subsea manifold at each movement, comprising the steps of:
acquiring a measured value of each force measuring device when the trailer system moves in a stable state;
acquiring an included angle between each force measuring device and projection of each force measuring device on the trailer system movement plane and an included angle between projection of each force measuring device on the trailer system movement plane and the trailer system movement direction;
calculating the underwater manifold resistance according to the measured value of the force measuring device, the included angle between the force measuring device and the projection of the force measuring device on the moving plane of the trailer system and the included angle between the projection of the force measuring device on the moving plane of the trailer system and the moving direction of the trailer system by the following relation:
wherein k is one half of the total number of force measuring devices, k being greater than or equal to 2,F d Resistance to underwater manifold, F n For the n-th measurement value of the force measuring device, θ n For the angle alpha between the nth force measuring device and its projection on the plane of motion of the trailer system n And the included angle between the projection of the nth force measuring device on the moving plane of the trailer system and the moving direction of the trailer system is set.
2. An experimental method for measuring the stress of an underwater manifold according to claim 1, wherein the acquisition of the angle between each force measuring device and its projection on the plane of motion of the trailer system and the angle between the projection of each force measuring device on the plane of motion of the trailer system and the direction of motion of the trailer system comprises the steps of:
acquiring the length of the force measuring device when the trailer system moves in a stable state;
obtaining a vertical distance between a connection point of the force measuring device and the trailer system and a connection point of the force measuring device and the underwater manifold;
according to the length of the force measuring device and the vertical distance, calculating an included angle between the force measuring device and projection of the force measuring device on the motion plane of the trailer system through a first inverse trigonometric function;
acquiring the projection length of the force measuring device on the motion plane of the trailer system;
acquiring a horizontal distance between a connection point of the force measuring device and the trailer system and a moving direction of the trailer system;
and calculating an included angle between the projection of the force measuring device on the moving plane of the trailer system and the moving direction of the trailer system through a second inverse trigonometric function according to the length of the projection of the force measuring device on the moving plane of the trailer system and the horizontal distance.
3. The method according to claim 2, wherein the length of the force measuring device is determined according to a predetermined formula when the trailer system is in a steady state of motion:
wherein, the pre-design formula is: l (L) n ＝L n, +F n /K n ，L n For the length of the nth force measuring device in the steady state of movement of the trailer system, L n, For the initial length of the nth force measuring device, F n For the n-th measurement value of the force measuring device, K n The stiffness coefficient of the tension spring of the nth force measuring device.
4. The method of claim 2, wherein the first inverse trigonometric function is calculated by:
θ n for the angle between the nth force measuring device and its projection on the plane of motion of the trailer system, d n A vertical distance between a connection point of the trailer system and the nth force measuring device and a connection point of the nth force measuring device and the underwater manifold;
the calculation formula of the second inverse trigonometric function is as follows:
α n for the included angle between the projection of the nth force measuring device on the moving plane of the trailer system and the moving direction of the trailer system, f n Is the horizontal distance between the connection point of the nth trailer system and the force measuring device and the direction of movement of the trailer system.
5. An experimental apparatus for measuring the stress of an underwater manifold, wherein the experimental apparatus is for performing the experimental method for measuring the stress of an underwater manifold according to any one of claims 1 to 4, comprising:
a trailer system for dragging the subsea manifold to move; and
one end of each force measuring device is respectively connected with the trailer system, the other end of each force measuring device can be respectively connected with the underwater manifold, and the force measuring devices are used for measuring the pulling force when the trailer system drags the underwater manifold to move;
wherein the connection location of the force measuring device and the trailer system corresponds to the connection location of the force measuring device and the subsea manifold.
6. An experimental device for measuring the force of an underwater manifold according to claim 5, wherein said trailer system comprises:
a guide rail;
a trailer provided on the guide rail and movable along the guide rail; and
and the control system is electrically connected with the trailer and is used for controlling the motion of the trailer.
7. An experimental device for measuring the stress of an underwater manifold according to claim 5 or 6, wherein the force measuring device comprises a tension sensor, one end of the tension sensor is connected with the trailer system, the other end of the tension sensor is connected with the underwater manifold through a steel rope, and the tension sensor is used for sensing a tension parameter suffered by the steel rope so as to measure the tension suffered by the force measuring device when the underwater manifold moves.
8. The experimental apparatus for measuring the force of an underwater manifold according to claim 7, further comprising a turnbuckle disposed between the tension sensor and the steel strand, the turnbuckle for adjusting the tightness of the steel strand.
9. The experimental device for measuring the stress of an underwater manifold according to claim 8, further comprising a tension spring, wherein the tension spring is arranged between the turnbuckle and the steel strand, and the tension spring is used for playing a role of buffering and avoiding damage to the tension sensor.
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