CN115470547A - Pile leg load data simulation method of lifting platform virtual operating system - Google Patents

Pile leg load data simulation method of lifting platform virtual operating system Download PDF

Info

Publication number
CN115470547A
CN115470547A CN202211006026.8A CN202211006026A CN115470547A CN 115470547 A CN115470547 A CN 115470547A CN 202211006026 A CN202211006026 A CN 202211006026A CN 115470547 A CN115470547 A CN 115470547A
Authority
CN
China
Prior art keywords
leg
pile
load
platform
depth
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211006026.8A
Other languages
Chinese (zh)
Inventor
叶志坚
王金秋
江志钢
司小冬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Marine Machinery Plant Co Ltd
Original Assignee
Wuhan Marine Machinery Plant Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan Marine Machinery Plant Co Ltd filed Critical Wuhan Marine Machinery Plant Co Ltd
Priority to CN202211006026.8A priority Critical patent/CN115470547A/en
Publication of CN115470547A publication Critical patent/CN115470547A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

Abstract

A control object of a virtual operating system of a lifting platform is a virtual model of a maritime work lifting platform, the virtual operating system comprises the maritime work platform and four pile legs which can move up and down relative to the maritime work platform, and the pile leg load simulation method comprises the following steps: acquiring the working condition of the virtual model and the relative displacement between each pile leg in the virtual model and the marine platform in real time; and calculating the load of each pile leg in real time according to the obtained working condition of the virtual model and the relative displacement between each pile leg in the virtual model and the marine platform. According to the design, different working conditions are distinguished, different calculation methods are used for calculating the load of each pile leg under different working conditions, the load of the pile leg in the maritime work lifting platform can be simulated in virtual operation, and the simulated load of the pile leg is basically consistent with the data change process of a pile leg load sensor in the actual platform operation process.

Description

Pile leg load data simulation method of lifting platform virtual operating system
Technical Field
The invention relates to a pile leg load simulation method, in particular to a pile leg load data simulation method of a virtual operation system of a lifting platform, which is particularly suitable for operation simulation training of a maritime work lifting platform.
Background
The virtual operation system of the maritime work lifting platform can enable operators to conduct modulus operation on the whole flow of the lifting platform before real ship operation, and can help the operators to master the operation technology of the lifting platform quickly and efficiently. Because the virtual operation object is a three-dimensional virtual model of the maritime work lifting platform, data of all states of the virtual model in the action process are simulated, the simulated data need to be basically consistent with sensor data of a real maritime work lifting platform, the virtual operation process is further ensured to be basically consistent with a real object operation process, and a better simulation training effect is achieved. Among these simulation data, leg load data is very important one. At present, mature experience is not used for reference on how to vividly simulate pile leg load data so as to ensure the vivid simulation degree of the simulation operation process.
Meanwhile, in the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
1. in the process of operating the ship by the physical lifting platform, pile leg load data with complex changes are directly acquired by a sensor, in the process of virtual operation, the load data with complex changes under the whole-process working condition of the lifting platform needs to be simulated and reproduced, and the simulation of the load data is incorrect, so that the virtual operation process of the whole lifting platform is inconsistent with the physical operation, and the training effect is further influenced;
2. the state load data is closely connected with the operation working condition of the lifting platform, even if the pile legs are positioned at the same position, the pile leg load is different due to different working conditions, and no existing technology for simulating the pile leg load can be referred to so far.
Disclosure of Invention
The invention aims to solve the problem that the leg load of a maritime work lifting platform under different operating conditions cannot be simulated in the virtual operation process in the prior art, and provides a method for simulating the leg load of the lifting platform virtual operation system, which can simulate the load data of a leg under different operating conditions realistically and ensure that the leg load data change of a simulation operation system is basically consistent with the leg load sensor data change process in the actual platform operation process.
In order to achieve the above purpose, the technical solution of the invention is as follows:
a method for simulating pile leg load data of a virtual operating system of a lifting platform is characterized in that a control object of the virtual operating system of the lifting platform is a virtual model of a maritime work lifting platform, the virtual model of the maritime work lifting platform is located in a virtual marine environment, and the virtual model of the maritime work lifting platform comprises the maritime work platform and four pile legs capable of moving up and down relative to the maritime work platform;
the pile leg load simulation method comprises the following steps:
the method comprises the following steps of firstly, acquiring the working condition of a virtual model, the draft of a marine platform and the relative displacement between each pile leg 2 in the virtual model and the marine platform in real time;
and secondly, calculating the load of each pile leg in real time according to the obtained working condition of the virtual model and the relative displacement between each pile leg and the marine platform.
The working conditions of the virtual model comprise: the pile leg lifting working condition, the pile leg descending working condition, the pile inserting working condition, the platform lifting working condition, the pre-loading working condition, the platform descending working condition and the pile pulling working condition.
The second step specifically comprises:
s1, when the virtual model is in a pile leg ascending working condition or a pile leg descending working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T init +Leg(N)Distance*A；
in the formula: leg (N) LoadSim is the real-time load of the No. N pile Leg, leg (N) Distance is the real-time relative displacement between the No. N pile Leg and the marine platform, and T init For the initial load of each leg, A is the rate of change of buoyancy experienced by the leg with the depth of penetration of the leg, and T init The value of A is a preset constant;
s2, when the virtual model is in a pile inserting working condition, calculating the load of each pile leg through the following formula:
if Leg (N) Distance-Depth is less than or equal to H 1 The method comprises the following steps:
Leg(N)LoadSim=T init +Depth*A+(Leg(N)Distance-Depth)*[-（T init +Depth*A）/ H 1 ]；
said H 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+(Leg(N)Distance-Depth-H 1 )*(T H2 /(H 2 -H 1 ))；
in the formula: the Leg (N) LoadSim is the real-time load of the pile Leg No. N; leg (N) Distance is real-time relative displacement between the No. N pile Leg and the marine platform 1, depth is the Distance between the bottom of the pile Leg and seabed soil when the relative displacement between the pile Leg and the marine platform is 0, A is the change rate of buoyancy borne by the pile Leg along with the Depth of the pile Leg into water, and T is the Distance between the pile Leg and the seabed soil init For initial loading of each leg, H 1 At a first depth of penetration, H 2 At the second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load of time, said T init 、H 1 、H 2 、T H2 The value of A is a preset constant;
s3, when the virtual model is in a platform lifting working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T H2 +(Leg(N)Distance-Depth-H 2 )*((M/4-T H2 )/
Figure DEST_PATH_IMAGE002
)；
in the formula: leg (N) LoadSim is the real-time load of the No. N pile Leg, leg (N) Distance is the real-time relative displacement between the No. N pile Leg and the marine platform 1, depth is the Distance between the bottom of the pile Leg and seabed soil when the relative displacement between the pile Leg and the marine platform is 0, and H 2 At a second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load of time H 3 For platform elevation, M for platform tonnage, H 2 、T H2 、M、H 3 The values of (A) are all preset constants;
s4, when the virtual model is in a pre-load working condition, calculating the load of each pile leg through the following formula:
the load of the leg being pre-stressed is calculated by the following formula:
calculating T (N) c +Kt 1 The value of (c):
when T (N) c +Kt 1 ≤T yuya Then, leg (N) LoadSim = T (N) c +Kt 1 ；
When T (N) c +Kt 1 ＞T yuya When Leg (N) LoadSim = T yuya ；
The load of the unpressurized leg 2 is calculated by the following formula:
calculating T (N) c -Kt 1 The value of (c):
T(N) c -Kt 1 ＞（M- T yuya * 2) In/2, leg (N) LoadSim = T (N) c -Kt 1
T(N) c -Kt 1 ≤（M- T yuya * 2) At/2, leg (N) LoadSim = (M-T) yuya *2）/2；
In the formula: leg (N) LoadSim is the real-time load of No. N pile Leg, T (N) c Is the initial load before the N pile leg is pre-pressed, T is the pre-pressed time length of the pile leg being pre-pressed, M is the platform tonnage, K is the change rate of the pile leg load in the pre-pressing process, T yuya For maximum leg load, M, K, T yuya The values of (A) are all preset constants;
s5, when the virtual model is in a platform descending working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=M/4+PlantFormDraftDepth*(-M/4/H 4 )；
in the formula: leg (N) loadSim is the real-time load of the pile Leg No. N, plantarformDraftDepth is the real-time draft of the marine platform 1, M is the platform tonnage, H 4 For the platform descending height, M, H 4 The values of (A) are all preset constants;
s6, when the virtual model is in a pile pulling working condition, calculating the load of each pile leg through the following formula:
when H is present 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+(Leg(N)DistanceMax-Leg(N)Distance)*(
Figure DEST_PATH_IMAGE004
/(
Figure DEST_PATH_IMAGE006
-H 1 ));
when Leg (N) Distance-Depth is less than or equal to H 1 The method comprises the following steps:
Leg(N)LoadSim=T init +Depth*A-(T init +Depth*A-T X )*(Leg(N)Distance-Depth)/((Leg(N)DistanceMax-(H 2 -H 1 )-Depth))；
in the formula: leg (N) LoadSim is the load of the No. N pile Leg, leg (N) DistanceMax is the relative displacement between the No. N pile Leg and the marine platform when the virtual model enters the pile pulling working condition, leg (N) Distance is the real-time relative displacement between the No. N pile Leg and the marine platform, depth is the Distance between the bottom of the pile Leg and seabed soil when the relative displacement between the pile Leg and the marine platform is 0, and T is the load of the No. N pile Leg init For the initial load of each leg, A is the rate of change of the buoyancy experienced by the leg as a function of the depth of penetration of the leg, H 1 At a first depth of penetration, H 2 At a second depth of penetration, T X The maximum resistance of seabed soil to pile legs in the pile pulling process is T init 、A、H 1 、H 2 、T X The values of (a) and (b) are all preset constants.
The constant T init 、A、H 1 、H 2 、H 3 、H 4 、T H2 、M、T X 、T yuya The value of (a) is set according to the mass and the shape of the marine platform, the mass and the shape of the pile leg and the virtual marine environment where the three-dimensional virtual model is located in the virtual model.
The T is init Is 300, A is 10, H is 1 Is 2, said H 2 Has a value of 5, H 3 Has a value of 6, H 4 Has a value of 4.8, T H2 Is 300, M is 20800, T X Is-4800, K is 300, and T is yuya Is 8000.
The virtual model of the marine engineering platform is based on an actual marine engineering lifting platform 1:1 is established.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the pile leg load data simulation method of the lifting platform virtual operation system, when the three-dimensional virtual model of the marine lifting platform is operated, the load of each pile leg is simulated and calculated respectively according to the working condition of the three-dimensional virtual model of the marine lifting platform, the draft of the marine platform and the position information of each pile leg, the three-dimensional virtual model of the marine lifting platform and the load of each pile leg in the three-dimensional virtual model are displayed in real time, the fidelity of the simulation operation process is ensured, and the operator can increase the understanding of the whole working process of the lifting platform before the real ship operation. Therefore, the load of each pile leg is simulated and calculated in the design, the three-dimensional virtual model of the maritime work lifting platform and the load of each pile leg in the three-dimensional virtual model are displayed, the simulation operation process is vivid, and an operator can be helped to quickly and efficiently master the lifting platform operation technology.
2. According to the pile leg load data simulation method of the virtual operation system of the lifting platform, because the load data of the pile legs are closely connected with the operation working condition of the lifting platform, under different working conditions, the current working condition of the maritime work lifting platform is obtained before the pile leg load is calculated, and the pile leg load calculation under different working conditions is carried out according to the working condition of the maritime work lifting platform, so that the pile leg lifting working condition, the pile leg descending working condition, the pile inserting working condition, the platform lifting working condition, the pre-loading working condition, the platform descending working condition and the load change condition of each pile leg under the pile pulling working condition can be accurately simulated and calculated, and the simulated data are basically consistent with the sensor data under the real condition. Therefore, the current working condition of the maritime work lifting platform is obtained firstly in the design, the working condition of the maritime work lifting platform and the position of each pile leg are integrated to calculate the load of the pile leg, the load of the pile leg under different working conditions can be more accurately simulated and calculated, and the simulated data are basically consistent with the data of the sensor under the real condition.
3. In the pile leg load data simulation method of the lifting platform virtual operation system, the virtual model is used for continuously changing the simulated load data of each pile leg in the processes of pile leg descending, pile inserting, platform ascending, pre-loading, platform descending, pile pulling and pile leg ascending in sequence, and the simulated pile leg load data is more fit with the sensor data under the real condition, so that the simulation operation process is more vivid. Therefore, the load of the pile leg simulated by the virtual model in the design is continuously changed in the processes of pile leg descending, pile inserting, platform ascending, pre-loading, platform descending, pile pulling and pile leg ascending in sequence, so that the simulation operation process is more vivid.
Drawings
Fig. 1 is a schematic view of the initial state of the marine lifting platform in the invention.
Fig. 2 is a schematic view of the legs of the present invention inserted into the soil on the seabed.
Fig. 3 is a top view of the marine lift platform of the present invention.
In the figure: marine platform 1, spud leg 2, no. 1 spud leg 21, no. 2 spud leg 22, no. 3 spud leg 23, no. 4 spud leg 24.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description of the invention.
Referring to fig. 1 to 3, a method for simulating leg load data of a virtual operating system of a lifting platform,
the control object of the lifting platform virtual operating system is a virtual model of a maritime work lifting platform, the virtual model of the maritime work lifting platform is positioned in a virtual marine environment, and the virtual model of the maritime work lifting platform comprises a maritime work platform 1 and four pile legs 2 capable of moving up and down relative to the maritime work platform;
the pile leg load simulation method comprises the following steps:
the method comprises the following steps of firstly, acquiring the working condition of a virtual model and the relative displacement between each pile leg 2 and a marine platform 1 in the virtual model in real time;
and step two, calculating the load of each pile leg 2 in real time according to the obtained working condition of the virtual model, the draft of the marine platform 1 and the relative displacement between each pile leg 2 and the marine platform 1.
When the spud leg 2 rises to the highest position relative to the marine platform 1, the displacement of the spud leg 2 relative to the marine platform 1 is 0, and when the spud leg 2 descends relative to the marine platform 1, the spud leg 2 and the marine platform 1 generate relative displacement. In the process that the pile leg 2 descends to the current position relative to the marine platform 1 from the initial position, the displacement of the pile leg 2 relative to the marine platform 1 is the relative displacement between the current pile leg 2 and the marine platform 1.
The four legs 2 include: no. 1 spud leg 21, no. 2 spud leg 22, no. 3 spud leg 23, no. 4 spud leg 24.
The working conditions of the virtual model comprise: the pile leg lifting working condition, the pile leg descending working condition, the pile inserting working condition, the platform lifting working condition, the pre-loading working condition, the platform descending working condition and the pile pulling working condition.
As shown in fig. 1, when the virtual model is in an initial state, the marine platform 1 floats on the sea surface, the No. 1 spud leg 21, the No. 2 spud leg 22, the No. 3 spud leg 23, and the No. 4 spud leg 24 are all located at initial positions, and the relative displacement between the No. 1 spud leg 21, the No. 2 spud leg 22, the No. 3 spud leg 23, the No. 4 spud leg 24 and the marine platform 1 is 0;
when the virtual model is in a spud leg descending working condition, the marine platform 1 floats on the sea surface, the spud leg 2 ascends relative to the marine platform 1, and the spud leg does not contact with seabed soil;
as shown in fig. 2, when the virtual model is in the pile inserting working condition, the marine platform 1 floats on the sea surface, the pile legs 2 descend relative to the marine platform, and the bottom of the pile legs 2 are inserted into seabed soil;
when the virtual model is in a platform lifting working condition, the pile leg 2 stands in seabed soil, and the maritime work platform 1 lifts relative to the pile leg 2;
when the virtual model is in a pre-load working condition, the pile leg No. 1 and the pile leg No. 3 on the same diagonal are ballasted to a target load, the load of the pile leg No. 2 and the pile leg No. 4 on the other diagonal is reduced, then the pile leg No. 2 and the pile leg No. 4 on the other diagonal are ballasted to the target load, the load of the pile leg No. 1 and the pile leg No. 3 on the same diagonal is reduced, and two groups of pile legs are ballasted for multiple times in turn;
when the virtual model is in a platform descending working condition, the pile leg 2 stands in seabed soil, and the marine platform 1 descends relative to the pile leg 2;
when the virtual model is in a pile pulling working condition, the marine platform 1 floats on the sea surface, and the pile legs 2 are controlled to ascend relative to the marine platform 1 until the pile legs 2 are separated from seabed soil.
When the virtual model is in the pile leg lifting working condition, the marine platform 1 floats on the sea surface, the pile legs 2 are separated from seabed soil, and the pile legs 2 lift relative to the marine platform 1.
The method for calculating the load of each pile leg 2 in real time according to the obtained working condition of the virtual model and the relative displacement between each pile leg 2 and the marine platform 1 in the virtual model comprises the following steps:
s1, when the virtual model is in a pile leg ascending working condition or a pile leg descending working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T init +Leg(N)Distance*A；
in the formula: leg (N) LoadSim is the real-time load of the No. N pile Leg, leg (N) Distance is the real-time relative displacement between the No. N pile Leg and the marine platform 1, and T init For the initial load of each leg, A is the rate of change of buoyancy experienced by the leg with the depth of penetration of the leg, and T init The value of A is a preset constant, T init The value of A is a negative value, and the value of A is a positive value;
since the buoyancy to which the leg 2 is subjected during lowering increases gradually, the load change of the leg 2 during lowering is mainly related to the buoyancy to which the leg is subjected, in the above formula, T init For the initial load value of each leg, T init Under the condition that the marine platform 1 floats on the water surface and the relative displacement between each pile leg 2 and the marine platform 1 is 0, the initial load, T, of each pile leg 2 init The value of (a) is a preset constant; a is the rate of change of buoyancy borne by the leg with the depth of penetration of the leg, T init The value of A can be determined according to the quality and shape of the maritime work platform in the virtual modelThe shape, the quality and the shape of the pile leg, the virtual marine environment where the three-dimensional virtual model is located and the experience of personnel are set;
according to the formula and the relative displacement between the four pile legs 2 and the marine platform 1, the current load of the four pile legs 2 can be simulated through calculation respectively, and the change conditions that the load is reduced along with the rise of the pile legs 2 and the load is increased along with the fall of the pile legs 2 under the working condition that the pile legs rise or fall are simulated.
S2, when the virtual model is in a pile inserting working condition, calculating the load of each pile leg through the following formula:
if Leg (N) Distance-Depth is less than or equal to H 1 When the method is used:
Leg(N)LoadSim=T init +Depth*A+(Leg(N)Distance-Depth)*[-（T init +Depth*A）/ H 1 ]；
said H 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+(Leg(N)Distance-Depth-H 1 )*(T H2 /(H 2 -H 1 ))；
in the formula: the Leg (N) LoadSim is the real-time load of the pile Leg No. N; leg (N) Distance is real-time relative displacement between the No. N pile Leg and the marine platform 1, depth is the Distance between the bottom of the pile Leg 2 and seabed soil when the relative displacement between the pile Leg 2 and the marine platform 1 is 0, A is the change rate of buoyancy borne by the pile Leg along with the Depth of the pile Leg into water, and T is the change rate of the buoyancy borne by the pile Leg along with the Depth of the pile Leg into water init For initial loading of each leg, H 1 At the first depth of penetration, H 2 At a second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load of time, said T init 、H 1 、H 2 、T H2 The value of A is a preset constant, and H 1 、H 2 、T H2 Has a positive value of, and H 2 Has a value of greater than H 1 The value of (c).
When Depth is 0 relative displacement between each pile leg 2 and the marine platform 1, the distance between the bottom of each pile leg 2 and seabed soil is equal, when all the pile legs 2 rise to the highest position, the heights of the four pile legs 2 are the same,
as shown in fig. 1, depth is a fixed value under the condition of the virtual model of the marine lifting platform and the determination of marine environment.
Because the resistance of the seabed soil can influence the load of the pile leg in the process of inserting the pile leg into the seabed soil, after the pile leg 2 is inserted into the soil to a certain depth, the load of the pile leg 2 can be changed from a negative value to zero, then the pile leg continues to go deep into the soil, the load of the pile leg 2 is changed from 0 to a positive value, and in the formula, the first soil penetration depth H is 1 The depth of inserting the pile leg 2 into the soil is reduced to 0 under the action of seawater buoyancy, self gravity and extrusion force of the soil; the second depth of mud penetration H 2 The maximum depth of the pile leg 2 inserted into soil under the pile inserting working condition is set; the T is H2 The depth of one pile leg 2 inserted into the soil is H 2 The loading of the leg 2. According to the formula and the relative displacement between the four pile legs 2 and the marine platform 1, the current load of the four pile legs 2 can be respectively calculated, and the change condition that the load of the pile legs 2 under the pile inserting working condition is changed from a negative value to 0 and then is increased to a positive value along with the increase of the depth of the pile legs 2 inserted into the soil is simulated.
S3, when the virtual model is in a platform lifting working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T H2 +(Leg(N)Distance-Depth-H 2 )*((M/4-T H2 )/H 3 )；
in the formula: leg (N) LoadSim is the real-time load of the pile Leg number N, leg (N) Distance is the real-time relative displacement between the pile Leg number N and the marine platform 1, depth is the Distance between the bottom of the pile Leg 2 and the seabed soil when the relative displacement between the pile Leg 2 and the marine platform 1 is 0, and H 2 At a second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load in time H 3 M is the platform tonnage, namely the total mass of the marine platform and the ballast water inside the marine platform after the marine platform 1 is separated from the water surface in the ascending working condition, and H is 2 、T H2 、M、H 3 The values of (A) and (B) are all preset constants, M and H 3 All values of (c) are positive values. The Leg (N) Distance-Depth-H 2 For the current height of the marine platform 1 relative to the Nth pile leg, when the marine platform 1 rises along the Nth pile legNumber pile leg rising H 3 At the height, the load of the No. N pile leg is increased to M/4. According to the formula, the real-time load of each pile leg 2 under the working condition of platform lifting can be respectively calculated, and the change condition that the load of the pile leg 2 increases along with the lifting of the marine platform 1 is simulated.
S4, when the virtual model is in a pre-load working condition, calculating the load of each pile leg through the following formula:
the load of the leg 2 being pre-stressed is calculated by the following formula:
calculating T (N) c +Kt 1 The value of (c):
when T (N) c +Kt 1 ≤T yuya Then, leg (N) LoadSim = T (N) c +Kt 1 ；
When T (N) c +Kt 1 ＞T yuya When Leg (N) LoadSim = T yuya ；
The load of the unpressurized leg 2 is calculated by the following formula:
calculating T (N) c -Kt 1 The value of (c):
T(N) c -Kt 1 ＞（M- T yuya * 2) In/2, leg (N) LoadSim = T (N) c -Kt 1
T(N) c -Kt 1 ≤（M- T yuya * 2) At/2, leg (N) LoadSim = (M-T) yuya *2）/2；
In the formula: leg (N) LoadSim is the real-time load of No. N pile Leg, T (N) c Is the initial load before the N pile leg is pre-pressed, T is the pre-pressed time length of the pile leg being pre-pressed, M is the platform tonnage, K is the change rate of the pile leg load in the pre-pressing process, T yuya For maximum leg load, M, K, T yuya The value of (A) is a preset constant, the value of K is a positive value, T yuya Is greater than the value of M/4.
After the platform is raised, the load of each leg 2 is approximately the same, and the total load of the four legs is close to the total load M of the legs after the marine platform goes out of water. Then, the pile legs No. 1 and No. 3 and the pile legs No. 2 and No. 4 are pre-loaded for multiple times in turn, and the load of the ballasted pile legs is increased at a certain change rate in the pre-loading process of each timeTo T yuya The unballasted leg load decreases at a rate of change to (M-T) yuya * 2)/2. As shown in fig. 3, the number 1 and 3 legs on one diagonal are pre-stressed, during which the load of the number 1 and 3 legs is raised to T at a certain rate yuya While the load of the legs 2 and 4 on the other diagonal is reduced to (M-T) at a certain rate yuya * 2)/2. After the pre-pressing of the pile legs 1 and 3 is finished, the pile legs 2 and 4 are pre-pressed, and in the process of pre-pressing the pile legs 2 and 4, the load of the pile legs 2 and 4 rises to T at a certain speed yuya And the load of No. 1 and No. 3 pile legs is reduced to (M-T) at a certain rate yuya * 2)/2. According to the formula, the real-time load of each pile leg 2 under the pre-loading working condition can be respectively calculated, and the change process of the load of the pile leg 2 under the pre-loading working condition is simulated.
S5, when the virtual model is in a platform descending working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=M/4+PlantFormDraftDepth*(-
Figure DEST_PATH_IMAGE008
/H 4 )；
in the formula: leg (N) loadSim is the real-time load of the pile Leg No. N, plantarformDraftDepth is the real-time draft of the marine platform 1, M is the platform tonnage, H 4 For the platform descending height, M, H 4 The values of (A) and (B) are all preset constants, H 4 Is a positive value;
in the platform descending working condition, when the marine platform 1 does not enter water, the draught depth PlantFormDraftDepth is 0, and the load of each pile leg 2 is M/4; when the marine platform 1 enters water, the load of the pile legs 2 is gradually reduced due to the influence of buoyancy, and the marine platform 1 continues to descend H after entering water 4 At height, the load of each leg 2 is reduced to zero. According to the formula, the real-time load of each pile leg 2 under the platform descending working condition can be respectively calculated, and the change process that the load of the pile leg 2 is firstly kept unchanged in the platform descending process and then gradually reduced to 0 along with the increase of the platform draught is simulated.
S6, when the virtual model is in a pile pulling working condition, calculating the load of each pile leg through the following formula:
when H is present 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+( Leg(N)DistanceMax-Leg(N)Distance)*(
Figure 478222DEST_PATH_IMAGE004
/(
Figure 801887DEST_PATH_IMAGE006
-H 1 ));
when Leg (N) Distance-Depth is less than or equal to H 1 The method comprises the following steps:
Leg(N)LoadSim=T init +Depth*A-(T init +Depth*A-T X )*(Leg(N)Distance-Depth)/((Leg(N)DistanceMax-(H 2 -H 1 )-Depth))；
in the formula: the Leg (N) loadSim is the real-time load of the No. N pile Leg; the Leg (N) Distance is the real-time relative displacement between the pile Leg No. N and the marine platform 1; legg (N) DistanceMax is the relative displacement between the nth Leg and the marine platform 1 when the virtual model enters the pile pulling working condition, the relative displacement between the nth Leg and the marine platform 1 is the maximum when the virtual model just enters the pile pulling working condition, at this time, the relative displacement between the nth Leg and the marine platform 1 is equal to legg (N) DistanceMax, and the relative displacement between the Leg and the marine platform 1 is gradually reduced as the Leg moves upwards and is pulled out of the soil; the Depth is the distance between the bottom of the pile leg 2 and seabed soil when the relative displacement between the pile leg 2 and the marine platform 1 is 0; t is init For the initial load of each leg, A is the rate of change of buoyancy experienced by the leg with the depth of penetration of the leg, H 1 At a first depth of penetration, H 2 At a second depth of penetration, T X The maximum resistance of seabed soil to pile legs in the pile pulling process is T init 、A、H 1 、H 2 、T X The values of (A) and (B) are all preset constants, T X The value of (b) is a negative value.
In the pile pulling working condition, the pile leg 2 ascends relative to the marine platform 1, the bottom of the pile leg 2 is pulled out from the seabed soil, and in the processThe middle pile leg 2 is influenced by the adsorption resistance of seabed soil, and the load of the pile leg is slowly changed from the unstressed 0 ton to the negative tonnage; as the pile leg 2 continues to rise from the seabed soil, the seabed soil is slowly loosened, the adsorption resistance of the seabed soil to the pile leg 2 is gradually reduced, the load of the pile leg is gradually increased, and the depth of the pile leg 2 inserted into the seabed soil is H in the pile pulling process 2 -H 1 The adsorption resistance of the seabed soil to the pile leg 2 is the maximum, and the resistance of the seabed soil to the pile leg 2 is T X . According to the formula, the real-time load of each pile leg 2 under the pile pulling working condition can be respectively calculated, and the change process that the load of the pile leg 2 is reduced firstly and then increased in the pile pulling process is simulated.
The constant T init 、A、H 1 、H 2 、H 3 、H 4 、T H2 、M、T X 、K、T yuya The value of (a) is set according to the mass and shape of the marine platform, the mass and shape of the legs, and the virtual marine environment in which the three-dimensional virtual model is located in the virtual model.
The T is init Is 300, A is 10, H is 1 Is 2, said H 2 Has a value of 5, H 3 Is taken as value of 6, H 4 Is taken to be 4.8, T H2 Is 300, M is 20800, T X Is-4800, K is 300, and T is yuya Is 8000.
The principle of the invention is illustrated as follows:
the virtual operating system of the lifting platform comprises a control system and a control object, wherein the control system is used for controlling the control object, the control system is a control platform of a real maritime work lifting platform, the control object is a virtual model of the maritime work lifting platform, and the virtual model of the maritime work lifting platform is established according to the real maritime work lifting platform in a ratio of 1.
Example 1:
a pile leg load data simulation method of a lifting platform virtual operating system is characterized in that a control object of the lifting platform virtual operating system is a virtual model of a maritime work lifting platform, and the maritime work platform virtual model is based on an actual maritime work lifting platform 1:1, a virtual model of the marine lifting platform is positioned in a virtual marine environment, the virtual model of the marine lifting platform comprises a marine platform 1 and four spud legs 2 which can move up and down relative to the marine platform,
the pile leg load simulation method comprises the following steps:
the method comprises the following steps of firstly, acquiring the working condition of a virtual model, the draft of a marine platform 1 and the relative displacement between each pile leg 2 and the marine platform 1 in real time;
and step two, calculating the load of each pile leg 2 in real time according to the obtained working condition of the virtual model and the relative displacement between each pile leg 2 and the marine platform 1 in the virtual model.
Example 2:
example 2 is substantially the same as example 1 except that:
the working conditions of the virtual model comprise: the pile leg lifting or pile leg descending working condition, the pile inserting working condition, the platform lifting working condition, the pre-loading working condition, the platform descending working condition and the pile pulling working condition.
The four legs 2 include: no. 1 spud leg 21, no. 2 spud leg 22, no. 3 spud leg 23, no. 4 spud leg 24.
The real-time calculation of the load of each pile leg 2 according to the obtained working condition of the virtual model and the relative displacement between each pile leg 2 and the marine platform 1 in the virtual model specifically comprises the following steps:
s1, when the virtual model is in a working condition of pile leg rising or pile leg falling, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T init +Leg(N)Distance*A；
in the formula: leg (N) LoadSim is the real-time load of the No. N pile Leg, leg (N) Distance is the real-time relative displacement between the No. N pile Leg and the marine platform 1, and T init For the initial load of each leg, A is the rate of change of buoyancy experienced by the leg with the depth of penetration of the leg, and T init The value of A is a preset constant;
s2, when the virtual model is in a pile inserting working condition, calculating the load of each pile leg through the following formula:
if Leg (N) Distance-Depth is less than or equal to H 1 When the method is used:
Leg(N)LoadSim=T init +Depth*A+(Leg(N)Distance-Depth)*[-（T init +Depth*A）/ H 1 ]；
said H 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+(Leg(N)Distance-Depth-H 1 )*(T H2 /(H 2 -H 1 ))；
in the formula: the Leg (N) loadSim is the real-time load of the No. N pile Leg; leg (N) Distance is real-time relative displacement between the No. N pile Leg and the marine platform 1, depth is the Distance between the bottom of the pile Leg 2 and seabed soil when the relative displacement between the pile Leg 2 and the marine platform 1 is 0, A is the change rate of buoyancy borne by the pile Leg along with the Depth of the pile Leg into water, and T is the change rate of the buoyancy borne by the pile Leg along with the Depth of the pile Leg into water init For initial loading of each leg, H 1 At the first depth of penetration, H 2 At the second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load of time, said T init 、H 1 、H 2 、T H2 The value of A is a preset constant;
s3, when the virtual model is in a platform lifting working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T H2 +(Leg(N)Distance-Depth-H 2 )*((M/4-T H2 )/H 3 )；
in the formula: leg (N) LoadSim is the real-time load of the No. N spud Leg, leg (N) Distance is the real-time relative displacement between the No. N spud Leg and the marine platform 1, depth is the Distance between the bottom of the spud Leg 2 and seabed soil when the relative displacement between the spud Leg 2 and the marine platform 1 is 0, and H 2 At the second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load in time H 3 For platform elevation, M for platform tonnage, H 2 、T H2 、M、H 3 The values of (A) are all preset constants;
s4, when the virtual model is in a pre-load working condition, calculating the load of each pile leg through the following formula:
the load of the leg 2 being pre-stressed is calculated by the following formula:
calculating T (N) c +Kt 1 The value of (c):
when T (N) c +Kt 1 ≤T yuya Then, leg (N) LoadSim = T (N) c +Kt 1 ；
When T (N) c +Kt 1 ＞T yuya When Leg (N) LoadSim = T yuya ；
The load of the unpressurized leg 2 is calculated by the following formula:
calculating T (N) c -Kt 1 The value of (c):
T(N) c -Kt 1 ＞（M- T yuya * 2) In/2, leg (N) LoadSim = T (N) c -Kt 1
T(N) c -Kt 1 ≤（M- T yuya * 2) At/2, leg (N) LoadSim = (M-T) yuya *2）/2；
In the formula: leg (N) LoadSim is the real-time load of No. N pile Leg, T (N) c Is the initial load before the N pile leg is pre-pressed, T is the pre-pressed time length of the pile leg being pre-pressed, M is the platform tonnage, K is the change rate of the pile leg load in the pre-pressing process, T yuya For maximum leg load, M, K, T yuya The values of (A) are all preset constants;
s5, when the virtual model is in a platform descending working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=M/4+PlantFormDraftDepth*(-M/4/H 4 )；
in the formula: leg (N) LoadSim is the real-time load of pile Leg No. N, and plantaFormDraftDepth is the real-time draft of the marine platform 1, M is the platform tonnage, H 4 For the platform descending height, M, H 4 The values of (A) are all preset constants;
s6, when the virtual model is in a pile pulling working condition, calculating the load of each pile leg through the following formula:
when H is present 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+( Leg(N)DistanceMax-Leg(N)Distance)*(T X /(H 2 -H 1 ));
when Leg (N) Distance-Depth is less than or equal to H 1 The method comprises the following steps:
Leg(N)LoadSim=T init +Depth*A-(T init +Depth*A-T X )*(Leg(N)Distance-Depth)/((Leg(N)DistanceMax-(H 2 -H 1 )-Depth))；
in the formula: the Leg (N) LoadSim is the real-time load of the pile Leg number N, the Leg (N) Distance is the real-time relative displacement between the pile Leg number N and the marine platform 1, the Leg (N) Distance Max is the relative displacement between the pile Leg number N and the marine platform 1 when the virtual model enters the pile pulling working condition, the Depth is the Distance between the bottom of the pile Leg 2 and the seabed soil when the relative displacement between the pile Leg 2 and the marine platform 1 is 0, and T is the Distance between the bottom of the pile Leg 2 and the seabed soil init For the initial load of each leg, A is the rate of change of the buoyancy experienced by the leg as a function of the depth of penetration of the leg, H 1 At the first depth of penetration, H 2 At a second depth of penetration, T X The maximum resistance of seabed soil to pile legs in the pile pulling process is T init 、A、H 1 、H 2 、T X The values of (a) and (b) are all preset constants.
The constant T init 、A、H 1 、H 2 、H 3 、H 4 、T H2 、M、T X 、K、T yuya The value of (a) is set according to the mass and shape of the marine platform, the mass and shape of the legs, and the virtual marine environment in which the three-dimensional virtual model is located in the virtual model.
Example 3:
example 3 is substantially the same as example 2 except that:
the T is init Is 300, A is 10, H is 1 Is 2, said H 2 Has a value of 5, H 3 Has a value of 6, H 4 Has a value of 4.8, T H2 Is 300, M is 20800, T X Is-4800, K is 300, and T is yuya Is 8000.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.

Claims (6)

1. A pile leg load data simulation method of a virtual operating system of a lifting platform is characterized by comprising the following steps:
the control object in the lifting platform virtual operating system is a virtual model of a maritime work lifting platform, the virtual model of the maritime work lifting platform is positioned in a virtual marine environment, and the virtual model of the maritime work lifting platform comprises a maritime work platform (1) and four pile legs (2) which can move up and down relative to the maritime work platform;
the pile leg load simulation method comprises the following steps:
the method comprises the following steps of firstly, acquiring the working condition of a virtual model, the draft of a marine platform (1) and the relative displacement between each pile leg (2) and the marine platform (1) in real time;
and secondly, calculating the load of each pile leg (2) in real time according to the obtained working condition of the virtual model and the relative displacement between each pile leg (2) and the marine platform (1).
2. The method for simulating leg load data of a virtual operating system of a lifting platform according to claim 1, wherein the method comprises the following steps:
the working conditions of the virtual model comprise: the pile leg lifting working condition, the pile leg descending working condition, the pile inserting working condition, the platform lifting working condition, the pre-loading working condition, the platform descending working condition and the pile pulling working condition.
3. The method for simulating leg load data of the virtual operating system of the lifting platform according to claim 1 or 2, wherein the method comprises the following steps:
the second step specifically comprises:
s1, when the virtual model is in a pile leg ascending working condition or a pile leg descending working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T init +Leg(N)Distance*A；
in the formula: leg (N) LoadSim is real-time burden of No. N spud LegLeg (N) Distance is real-time relative displacement between the No. N spud Leg and the marine platform (1), T init Is the initial load of the leg, A is the rate of change of the buoyancy force experienced by the leg with the depth of penetration of the leg, T init The value of A is a preset constant;
s2, when the virtual model is in a pile inserting working condition, calculating the load of each pile leg through the following formula:
if Leg (N) Distance-Depth is less than or equal to H 1 The method comprises the following steps:
Leg(N)LoadSim=T init +Depth*A+(Leg(N)Distance-Depth)*[-（T init +Depth*A）/H 1 ]；
said H 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+(Leg(N)Distance-Depth-H 1 )*(T H2 /(H 2 -H 1 ))；
in the formula: the Leg (N) LoadSim is the real-time load of the pile Leg No. N; leg (N) Distance is real-time relative displacement between the No. N pile Leg and the marine platform (1), depth is the Distance between the bottom of the pile Leg (2) and seabed soil when the relative displacement between the pile Leg (2) and the marine platform (1) is 0, and T is the Distance between the bottom of the pile Leg (2) and the seabed soil init Is the initial load of the leg, A is the rate of change of the buoyancy force experienced by the leg with the depth of penetration of the leg, H 1 At a first depth of penetration, H 2 At the second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load of time, said T init 、H 1 、H 2 、T H2 The value of A is a preset constant;
s3, when the virtual model is in a platform lifting working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=T H2 +(Leg(N)Distance-Depth-H 2 )*((M/4-T H2 )/H 3 )；
in the formula: leg (N) LoadSim is the real-time load of the No. N spud Leg, leg (N) Distance is the real-time relative displacement between the No. N spud Leg and the marine platform (1), depth is the Distance between the bottom of the spud Leg (2) and seabed soil when the relative displacement between the spud Leg (2) and the marine platform (1) is 0, and H is the Distance between the bottom of the spud Leg (2) and the seabed soil 2 At a second depth of penetration, T H2 The depth of the pile leg into the mud is H 2 Load of time H 3 For the platform rise height, M for the platform tonnage, H 2 、T H2 、M、H 3 The values of (A) are all preset constants;
s4, when the virtual model is in a pre-load working condition, calculating the load of each pile leg through the following formula:
the load of the leg (2) being pre-stressed is calculated by the following formula:
calculating T (N) c +Kt 1 The value of (c):
when T (N) c +Kt 1 ≤T yuya Then, leg (N) LoadSim = T (N) c +Kt 1 ；
When T (N) c +Kt 1 ＞T yuya When Leg (N) LoadSim = T yuya ；
The load of the unpressurized leg (2) is calculated by the following formula:
calculating T (N) c -Kt 1 The value of (c):
T(N) c -Kt 1 ＞（M- T yuya * 2) In/2, leg (N) LoadSim = T (N) c -Kt 1
T(N) c -Kt 1 ≤（M- T yuya * 2) At/2, leg (N) LoadSim = (M-T) yuya *2）/2；
In the formula: leg (N) LoadSim is the real-time load of No. N pile Leg, T (N) c The initial load before the N pile leg is pre-pressed, T is the pre-pressed time length of the pre-pressed pile leg, M is the platform tonnage, K is the change rate of the pile leg load in the pre-pressing process, and T is the change rate of the pile leg load in the pre-pressing process yuya For maximum leg load, M, K, T yuya The values of (A) are all preset constants;
s5, when the virtual model is in a platform descending working condition, calculating the load of each pile leg through the following formula:
Leg(N)LoadSim=M/4+PlantFormDraftDepth*(-M/4/H 4 )；
in the formula: leg (N) LoadSim is the real-time load of pile Leg No. N, plantaFormDraftDepth is the real-time draught of the marine platform (1), and M isPlatform tonnage, H 4 For the platform descending height, M, H 4 The values of (A) are all preset constants;
s6, when the virtual model is in a pile pulling working condition, calculating the load of each pile leg through the following formula:
when H is present 1 < Leg (N) Distance-Depth:
Leg(N)LoadSim=0+(Leg(N)DistanceMax-Leg(N)Distance)*(T X /(H 2 -H 1 ));
when Leg (N) Distance-Depth is less than or equal to H 1 The method comprises the following steps:
Leg(N)LoadSim=T init +Depth*A-(T init +Depth*A-T X )*(Leg(N)Distance-Depth)/((Leg(N)DistanceMax-(H 2 -H 1 )-Depth))；
in the formula: the Leg (N) LoadSim is the real-time load of the pile Leg number N, the Leg (N) Distance is the real-time relative displacement between the pile Leg number N and the marine platform (1), the Leg (N) Distance Max is the relative displacement between the pile Leg number N and the marine platform (1) when the virtual model enters the pile pulling working condition, the Depth is the Distance between the bottom of the pile Leg (2) and the seabed soil when the relative displacement between the pile Leg (2) and the marine platform (1) is 0, and T init For the initial load of each leg, A is the rate of change of buoyancy experienced by the leg with the depth of penetration of the leg, H 1 At a first depth of penetration, H 2 At the second depth of penetration, T X The maximum resistance of seabed soil to pile legs in the pile pulling process is T init 、A、H 1 、H 2 、T X The values of (a) and (b) are all preset constants.
4. The method for simulating leg load data of a virtual operating system of a lifting platform according to claim 3, wherein the method comprises the following steps:
the constant T init 、A、H 1 、H 2 、H 3 、H 4 、T H2 、M、T X 、K、T yuya The value of (a) is set according to the mass and shape of the marine platform, the mass and shape of the legs, and the virtual marine environment in which the three-dimensional virtual model is located in the virtual model.
5. The method for simulating leg load data of a virtual operating system of a lifting platform according to claim 4, wherein the method comprises the following steps:
the T is init Is 300, A is 10, H is 1 Is taken as 2, said H 2 Is taken as value of 5, H 3 Is taken as value of 6, H 4 Has a value of 4.8, T H2 Is 300, M is 20800, T X Is-4800, K is 300, and T is yuya Is 8000.
6. The method for simulating leg load data of a virtual operating system of a lifting platform according to claim 1, wherein the method comprises the following steps:
the maritime work platform virtual model is based on the actual maritime work lifting platform 1:1 is established.
CN202211006026.8A 2022-08-22 2022-08-22 Pile leg load data simulation method of lifting platform virtual operating system Pending CN115470547A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211006026.8A CN115470547A (en) 2022-08-22 2022-08-22 Pile leg load data simulation method of lifting platform virtual operating system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211006026.8A CN115470547A (en) 2022-08-22 2022-08-22 Pile leg load data simulation method of lifting platform virtual operating system

Publications (1)

Publication Number Publication Date
CN115470547A true CN115470547A (en) 2022-12-13

Family

ID=84366501

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211006026.8A Pending CN115470547A (en) 2022-08-22 2022-08-22 Pile leg load data simulation method of lifting platform virtual operating system

Country Status (1)

Country Link
CN (1) CN115470547A (en)

Similar Documents

Publication Publication Date Title
CN115826606B (en) Dynamic positioning control method for self-elevating ship platform
CN106127298A (en) A kind of Fault Diagnosis of Hydraulic Pump method based on self adaptation PSO BP neutral net
CN110703601B (en) Buoy depth control algorithm based on fuzzy control and Kalman filtering
CN115470547A (en) Pile leg load data simulation method of lifting platform virtual operating system
CN107525727A (en) A kind of Blade fence, which moves in circles, acts on load testing machine and method
CN107688297B (en) Profile motion control method of sliding cable underwater robot
CN110262295B (en) Intelligent lifting control system and control method for deepwater net cage
CN108120584A (en) Wave current power measures experimental rig and method
CN106012950A (en) Servo wave generation device provided with real-time dynamic monitoring system and method
CN110263402B (en) Self-elevating platform puncture distance calculation method
CN110889245B (en) Fluid-solid coupling seismic response analysis method for tower column structure coupling system of hydraulic ship lift
CN108867574A (en) For the calibration model sluice in numerical simulation and its generally change method
CN104914232A (en) Excavation piping simulation test apparatus and excavation piping simulation test method
CN107859029A (en) A kind of marine deep cement soil mixer ship processor bottoms out determination methods
CN111625925B (en) Ternary combination flooding injection-production optimization method based on chromatographic separation
CN111460563B (en) Method for calculating wave current borne by box-type upper structure of sea-crossing bridge
CN105093924B (en) A kind of air curtain lifts the control method of eutrophy salt deep sea water
JP6379834B2 (en) Tsunami wave force measuring method and apparatus
CN115617058B (en) Bottom-sitting control method of full-submerged cultivation equipment
CN210955566U (en) VR universal mobile platform of simulation three-dimensional map
CN106880941A (en) A kind of VR pedestrian systems
CN109853642A (en) A kind of low disturbance forming hole method for Ng model test
CN219842126U (en) Danxia landform slope laminar flow action test device
CN209912325U (en) Water level change induced landslide test device
CN111622188B (en) Discrimination method for energy dissipation by adopting natural water cushion

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination