CN115615661A - Device and method for testing low-frequency slow-floating wave load of floating structure in all wave directions - Google Patents
Device and method for testing low-frequency slow-floating wave load of floating structure in all wave directions Download PDFInfo
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Abstract
The invention relates to a device and a method for testing the low-frequency slow-floating wave load of a floating structure in the full wave direction, which comprises a floating structure model, wherein three-way force sensors are respectively arranged in the middle of the front end and the middle of the rear end of the floating structure model; fixed support rods are respectively arranged outside the front and the rear of the floating structure model at left and right intervals, ropes are respectively tied between the front support rod and the front three-way force sensor, and the same ropes are respectively tied between the rear support rod and the rear three-way force sensor; the elastic systems are arranged on the single ropes in series; when the floating structure model is influenced by waves and moves in space, the low-frequency slow floating force of the floating structure model in the horizontal direction can be solved by combining the three-way force sensor and the real-time detection of the multi-degree-of-freedom motion measuring device on the floating structure model, so that the problem of accurate measurement of the total wave direction load of the floating structure model in a wave environment is effectively solved, and the support is greatly provided for the floating structure model in the practical application of engineering.
Description
Technical Field
The invention relates to the technical field of floating structure hydrodynamic force tests, in particular to a device and a method for testing full-wave-direction low-frequency slow-floating wave load of a floating structure.
Background
As the offshore oil industry gradually moves to deep water, the traditional fixed platform cannot meet the requirements of deep water ocean engineering, and is replaced by floating structures, including a cruise ship-based FPSO, a semi-submersible platform, a tension leg platform, a SPAR platform and the like.
Because the floating structure works in open sea for a long time, the floating structure faces the threats of severe weather and extreme sea conditions and is under the combined action of complex environments such as wind, waves, currents, temperature, corrosion and the like, wherein the wave load is the external load which is the most main, the most complex and the longest in lasting action time.
Except for the action of the oscillatory and large first-order wave load, the small-amount and low-frequency slow-floating wave load of the offshore floating structure cannot be ignored, the offshore floating structure not only generates additional load on a offshore ship to cause resistance and power increase, but also is easy to generate long-period and large-amplitude low-frequency resonance motion near the inherent period of the floating structure in a mooring state, and the safety of a mooring system is greatly damaged.
Because the theoretical system of low-frequency slow-floating wave load forecasting is not complete, the model test is still the most effective and intuitive research approach. However, since the floating structure shows the coupling effect in a complex environment, there are many difficulties and challenges in model experiments, which are mainly shown in:
1) The wave load contains wave frequency first order and low frequency slow drift at the same time, and the wave frequency first order and the low frequency slow drift are mutually interwoven and coupled together, so that the difficulty is how to select a proper frequency range by a test system to accurately capture the low frequency slow drift effect;
2) The floating structure shows irregular complex motion after being influenced by waves, the low-frequency slow-floating wave load also represents space-time vector change, and the key is how to identify and accurately obtain the quantitative load in the wave direction.
In the prior art, theoretical researches on low-frequency slow-floating load are more, but the research on the low-frequency slow-floating load is less in the aspect of model test technology and is influenced by the technical difficulties, domestic pools mostly adopt a full-constraint mode to research on a top-wave low-frequency slow-floating load test, and model tests in the oblique wave direction are less.
Disclosure of Invention
The applicant provides a floating structure low-frequency slow-floating wave load testing device and method with a reasonable structure aiming at the defects in the prior art, so that the problem of accurate measurement of the full-wave load of a floating structure model in a wave environment is effectively solved, and the floating structure model is greatly assisted in engineering practical application to provide support for the floating structure model.
The technical scheme adopted by the invention is as follows:
a floating structure full wave direction low frequency slow floating wave load testing device comprises a floating structure model, wherein three-way force sensors are respectively arranged in the middle of the front end and the middle of the rear end of the floating structure model; fixed support rods are respectively arranged outside the front and the rear of the floating structure model at left and right intervals, ropes are respectively tied between the front support rod and the front three-way force sensor, and the same ropes are respectively tied between the rear support rod and the rear three-way force sensor; the elastic systems are arranged on the single ropes in series.
As a further improvement of the above technical solution:
the upper end part of the three-way force sensor is fixedly installed with the floating structure model, and the lower end part of the three-way force sensor is tied with the end part of the rope through the shackle.
An angle is formed between two ropes positioned in front of the floating structure model, and an angle is formed between two ropes positioned behind the floating structure model.
Four supporting rods positioned in front of and behind the floating structure model are positioned at four corners of the same rectangular structure; before the test, the longitudinal axis of the floating structure model along the front-back direction is parallel to one side of the rectangular structure, and the floating structure model is positioned in the center of the rectangular structure.
The bottom end of each supporting rod is rotatably provided with a pulley block through a suspension loop, the end part of a rope extends upwards through the guiding direction of the outer circumferential surface of a pulley in the pulley block, and the end part of the rope extending upwards is bound and fixed with the supporting rod.
Each rope comprises two independent sections tied at two ends of the elastic system, one section connects one end of the elastic system with the three-way force sensor at the end part of the floating structure model, and the other section connects the other end of the elastic system with the bottom end of the supporting rod.
Determining the natural period of the testing device according to the smaller value of the natural frequency of the floating structure model and the frequency of the waves, wherein the natural period of the testing device is smaller than the minimum value by one order of magnitude; the stiffness K of the elastic system is determined by the natural period of the test device:
wherein, ω is min ＝[ω m ,ω w ]，ω m As natural frequency, omega, of the model of the floating structure w Is the wave frequency; m is the model mass of the floating structure model, M a As an additional mass.
The rope is a steel wire rope or a light cable, and the elastic system is a spring system; the four groups of ropes have the same length, and the elastic systems connected in series on the four groups of ropes are the same.
The floating structure model is provided with a multi-degree-of-freedom motion measuring device, the multi-degree-of-freedom motion measuring device and the three-way force sensor are both electrically connected to the data analysis system, the data analysis system collects real-time detection data and carries out analysis and calculation, and the real-time low-frequency slow drift force of the floating structure model in the horizontal direction is solved.
A testing method of the testing device for the low-frequency slow-floating wave load of the floating structure in the full wave direction comprises the following steps:
defining a moving coordinate system O-XYZ by taking the gravity center of the floating structure model as an origin according to a right-hand rule, wherein the moving coordinate system at the initial moment is superposed with a geodetic coordinate system;
setting the positions of the three-way force sensors arranged at the two ends of the floating structure model as a mooring line point A and a mooring line point B;
before the test, the coordinate of the gravity center of the floating structure model in the geodetic coordinate system is (x) g ,y g ,z g ) The coordinate of the mooring line point A in the moving coordinate system is (x) a * ,y a * ,z a * ) The coordinate of the mooring line point B in the moving coordinate system is (x) b * ,y b * ,z b * )；
Obtaining real-time six-degree-of-freedom motion correspondence (x, y, z, phi, theta, beta) of the floating structure model after being influenced by waves by a multi-degree-of-freedom motion measuring device, and resolving to obtain a conversion matrix J between a geodetic coordinate system and a moving coordinate system;
resolving real-time positions of a mooring line point A and a mooring line point B by a conversion matrix J;
the real-time load F under the moving coordinate system is measured by combining the real-time positions of the mooring cable point A and the mooring cable point B and two groups of three-dimensional force sensors a And F b And resolving to obtain the low-frequency slow drift force of the floating structure model in the horizontal direction.
The invention has the following beneficial effects:
the invention has the advantages of ingenious, compact and reasonable structure and convenient operation and use, when the floating structure model is influenced by waves and moves in space, the real-time low-frequency slow drift force of the floating structure model in the horizontal direction can be calculated by combining the three-way force sensor and the real-time detection of the multi-degree-of-freedom motion measuring device on the floating structure model, so that the problem of accurate measurement of the full wave load of the floating structure model in the wave environment is effectively solved, the technical capability of low-frequency slow drift effect test is improved, the engineering practical application is greatly assisted and the support is provided for the engineering practical application, and the development of the ship hydrodynamic technology in China is effectively promoted;
the testing device disclosed by the invention is simple in structure, realizes the full wave direction through the use of the elastic system and the rope with elasticity and certain flexibility characteristics, is convenient to operate, is accurate and reliable in detection, and is suitable for wave load testing of a ship model or a floating structure model in a low-frequency slow-floating state in the full wave direction.
Drawings
FIG. 1 is a schematic structural diagram of a testing apparatus according to the present invention.
FIG. 2 is a schematic structural diagram of a testing device according to another aspect of the present invention.
Fig. 3 is a partially enlarged view of a portion a in fig. 2.
Fig. 4 is a schematic diagram of the testing device and floating structure model of the present invention before testing.
Fig. 5 is a schematic diagram of the testing device and the floating structure model in the testing process.
Wherein: 1. a floating structure model; 2. a multi-degree-of-freedom motion measuring device; 3. a three-way force sensor; 4. a rope; 5. an elastic system; 6. a support bar; 7. a data analysis system; 8. and (4) a pulley block.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the low-frequency slow-floating wave load testing device for the full wave direction of the floating structure of the embodiment comprises a floating structure model 1, wherein three-way force sensors 3 are respectively arranged in the middle of the front end and the middle of the rear end of the floating structure model 1; fixed support rods 6 are respectively arranged outside the front and the rear of the floating structure model 1 at intervals from left to right, ropes 4 are respectively tied between the front support rod 6 and the front three-way force sensor 3, and the same ropes 4 are respectively tied between the rear support rod 6 and the rear three-way force sensor 3; the elastic systems 5 are arranged on the single ropes 4 in series.
In this embodiment, testing arrangement simple structure, through the use of floating structure model 1 both ends elastic system 5 and rope 4, elastic system 5 and rope 4 have elasticity and certain flexible characteristic to when floating structure model 1 moves in the space along with the wave, can realize the data detection of all wave directions, convenient operation detects accurately reliably, is applicable to the wave load test of ship model or floating structure model in the low-frequency slowly-drifting state of all wave directions.
Further, as shown in fig. 2, the upper end of the three-way force sensor 3 is fixedly mounted with the floating structure model 1, and the lower end of the three-way force sensor 3 is tied with the end of the rope 4 through a shackle; so that the three-way force sensor 3 stably follows the floating structure model 1 and reliably transmits the force with the rope 4 via the shackle.
Further, an angle is formed between two ropes 4 positioned in front of the floating structure model 1, and an angle is formed between two ropes 4 positioned behind the floating structure model 1; therefore, in the process that the floating structure model 1 moves along with waves, the influence of the testing device on the floating structure model 1 is reduced or even avoided, and the full-freedom-degree motion of the floating structure model 1 is realized by assistance.
Furthermore, four support rods 6 positioned in front of and behind the floating structure model 1 are positioned at four corners of the same rectangular structure; before the test, the longitudinal axis of the floating structure model 1 along the front-back direction is parallel to one side of the rectangular structure, and the floating structure model 1 is positioned at the center of the rectangular structure.
The stability and reliability of the testing device during use are ensured through the testing device arranged in a symmetrical structure.
In the embodiment shown in fig. 3, the pulley block 8 is rotatably mounted at the bottom end of each support rod 6 through a suspension loop, the end of the rope 4 extends upwards after being guided by the outer circumferential surface of the pulley in the pulley block 8, and the end of the rope 4 extending upwards is bound and fixed with the support rod 6.
In the embodiment, the supporting rod 6 is relatively fixed relative to the ground, and the pulley block 8 is rotatably installed relative to the supporting rod 6 through the axial center of the pulley block;
through the arrangement of the pulley block 8, on one hand, the direction of the rope 4 is adjusted, so that the rope 4 is changed from the approximately horizontal direction to the approximately vertical upward direction, and the operation and adjustment of the rope 4 in the testing device are facilitated for personnel; on the other hand, the length direction of the rope 4 can be conveniently adjusted through the pulley block 8, so that the rope is suitable for test use of objects with different sizes.
Of course, the rotation of the pulley block 8 relative to the support rod 6 may also be set to an automatic structure, for example, the rotation of the pulley block 8 is realized by the driving of a motor, and the pulley block 8 may have the function of winding the rope 4, so that the length of the rope 4 can be adjusted in an automatic manner, and the end of the rope 4 may not need to be manually bound to the support rod 6.
Further, as shown in fig. 1 and 2, each single rope 4 comprises two independent sections tied to two ends of the elastic system 5, one section connects one end of the elastic system 5 with the three-way force sensor 3 at the end of the floating structure model 1, and the other section connects the other end of the elastic system 5 with the bottom end of the support rod 6; so that the two lengths of rope 4, in combination with the respective elastic system 5, form a whole.
Further, determining the natural period of the testing device according to the smaller value of the natural frequency of the floating structure model 1 and the frequency of the waves, wherein the natural period of the testing device is smaller than the minimum value by one order of magnitude; the stiffness K of the elastic system 5 is determined by the natural period of the test device:
wherein, ω is min ＝[ω m ,ω w ]，ω m Is the natural frequency, omega, of the model 1 of the floating structure w Is the wave frequency; m is the model mass of the floating structure model 1, M a As an additional mass.
In this embodiment, the frequency range of the test device is reflected in the stiffness of the spring system 5.
In this embodiment, before the test, the elastic systems 5 connected in series on each rope 4 have a certain pre-tightening tension.
Furthermore, the rope 4 is a steel wire rope or a light cable, and the elastic system 5 is a spring system; the lengths of the four groups of ropes 4 are the same, and the elastic systems 5 connected in series on the four groups of ropes 4 are the same.
Further, in order to realize the final calculation of the low-frequency slow drift force, a multi-degree-of-freedom motion measuring device 2 is further arranged on the floating structure model 1, the multi-degree-of-freedom motion measuring device 2 and the three-way force sensor 3 are both electrically connected to a data analysis system 7, the data analysis system 7 collects real-time detection data and carries out analysis calculation, and the real-time low-frequency slow drift force of the floating structure model 1 in the horizontal direction is calculated.
In this embodiment, when the floating structure model 1 is affected by waves and moves in space, the real-time low-frequency slow drift force of the floating structure model 1 in the horizontal direction can be solved by combining the three-way force sensor 3 and the real-time detection of the multi-degree-of-freedom motion measurement device 2 on the floating structure model 1, so that the problem of accurate measurement of the full-wave load of the floating structure model in a wave environment is effectively solved.
The multi-degree-of-freedom motion measuring device 2 and the three-way force sensor 3 in the embodiment are all outsourced standard products which are respectively used for measuring the corresponding coordinates, angles or stress at the positions where the multi-degree-of-freedom motion measuring device and the three-way force sensor are located.
A testing method of the testing device for the low-frequency slow-floating wave load of the floating structure in the full wave direction comprises the following steps:
the first step is as follows: defining a moving coordinate system O-XYZ by taking the gravity center of the floating structure model 1 as an origin according to a right-hand rule, wherein the moving coordinate system at the initial moment is superposed with a geodetic coordinate system;
the second step is that: setting the positions of the three-way force sensors 3 arranged at the two ends of the floating structure model 1 as a mooring line point A and a mooring line point B;
the third step: before the test, the coordinate of the gravity center of the floating structure model 1 in the coordinate system of the earth is (x) g ,y g ,z g ) The coordinate of the mooring line point A in the moving coordinate system is (x) a * ,y a * ,z a * ) The coordinate of the mooring line point B in the moving coordinate system is (x) b * ,y b * ,z b * ) As shown in fig. 4;
the fourth step: obtaining real-time six-degree-of-freedom motion correspondence (x, y, z, phi, theta, beta) of the floating structure model 1 after being influenced by waves by the multi-degree-of-freedom motion measuring device 2, and resolving to obtain a conversion matrix J between a geodetic coordinate system and a moving coordinate system;
the fifth step: as shown in FIG. 5, since the mooring line point A and the mooring line point B move synchronously with the floating structure model 1, the real-time positions A of the mooring line point A and the mooring line point B in the geodetic coordinate system are solved by the transformation matrix J ai (x ai ,y ai ,z ai ) And B bi (x bi ,y bi ,z bi ) (ii) a The method specifically comprises the following steps:
when i is 0, a0 and b0 represent the initial time of the test, in this case
And obtaining the real-time angle conditions (alpha) of the mooring point A and the mooring point B relative to the geodetic coordinate system ai ,γ ai ,μ ai ) And (alpha) bi ,γ bi ,μ bi ) The method comprises the following steps:
wherein ai-1 and bi-1 both represent the previous time of the current time.
And a sixth step: the real-time positions of the mooring cable point A and the mooring cable point B are combined with the real-time load F under the moving coordinate system measured by the two groups of three-way force sensors 3 ai * (F axi * ，F ayi * ，F azi * ) And F bi * (F bxi * ，F byi * ，F bzi * ) And resolving to obtain the low-frequency slow drift force (F) of the floating structure model 1 in the horizontal direction x ，F y ) The method comprises the following steps:
firstly, two groups of three-way force sensors 3 carry real-time load F under a moving coordinate system ai * (F axi * ，F ayi * ，F azi * ) And F bi * (F bxi * ，F byi * ，F bzi * ) Combining the real-time angles (α) at tether points A and B with respect to the geodetic coordinate system ai ,γ ai ,μ ai ) And (alpha) bi ,γ bi ,μ bi ) Obtaining the real-time force (F) at the mooring point A and the mooring point B under the fixed coordinate system axi ，F ayi ) And (F) bxi ，F byi )：
Then, the force (F) is applied to the mooring line points A and B in real time at each moment axi ，F ayi ) And (F) bxi ，F byi ) Respectively obtaining the time history curves of the stress at the mooring point A and the mooring point B, and obtaining a statistical value according to the actual requirement, such as an average value or a maximum value, as the stress (F) at the mooring point A and the mooring point B ax ，F ay ) And (F) bx ，F by )；
Finally, the difference is calculated to obtain the low-frequency slow drift force (F) of the floating structure model 1 x ，F y ) Comprises the following steps:
therefore, the wave low-frequency load of the real-scale structure can be further solved through data conversion.
The invention can solve the real-time low-frequency slow drift force of the floating structure model in the horizontal direction, thereby effectively solving the problem of accurate measurement of the full wave load of the floating structure model in the wave environment, improving the technical capability of low-frequency slow drift effect test, greatly assisting the practical application of engineering and providing support for the engineering, and effectively promoting the development of ship hydrodynamic technology in China.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. The utility model provides a floating structure is wave to low frequency slowly floating wave load testing arrangement entirely, includes floating structure model (1), its characterized in that: the middle part of the front end and the middle part of the rear end of the floating structure model (1) are respectively provided with a three-way force sensor (3); fixed support rods (6) are respectively arranged outside the front and the rear of the floating structure model (1) at left and right intervals, ropes (4) are respectively tied between the front support rod (6) and the front three-way force sensor (3), and the same ropes (4) are respectively tied between the rear support rod (6) and the rear three-way force sensor (3); the elastic systems (5) are arranged on the single ropes (4) in series.
2. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, wherein: the upper end part of the three-way force sensor (3) is fixedly installed with the floating structure model (1), and the lower end part of the three-way force sensor (3) is tied with the end part of the rope (4) through a shackle.
3. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, wherein: an angle is formed between the two ropes (4) positioned in front of the floating structure model (1), and an angle is formed between the two ropes (4) positioned behind the floating structure model (1).
4. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, wherein: four supporting rods (6) positioned in front of and behind the floating structure model (1) are positioned at four corners of the same rectangular structure; before the test, the longitudinal axis of the floating structure model (1) along the front-back direction is parallel to one side of the rectangular structure, and the floating structure model (1) is located at the center of the rectangular structure.
5. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, wherein: the pulley block (8) is rotatably installed at the bottom end of the single supporting rod (6) through the suspension loops, the end portion of the rope (4) extends upwards through the guide of the outer circumferential surface of the pulley in the pulley block (8), and the end portion of the rope (4) extending upwards is bound and fixed with the supporting rod (6).
6. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, characterized in that: the single rope (4) comprises two independent sections tied at two ends of the elastic system (5), one section connects one end of the elastic system (5) with the three-way force sensor (3) at the end part of the floating structure model (1), and the other section connects the other end of the elastic system (5) with the bottom end of the supporting rod (6).
7. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, wherein: determining the natural period of the testing device according to the smaller value of the natural frequency of the floating structure model (1) and the frequency of the waves, wherein the natural period of the testing device is smaller than the minimum value by one order of magnitude; the stiffness K of the elastic system (5) is determined by the natural period of the test device:
wherein, ω is min ＝[ω m ,ω w ]，ω m Is the natural frequency, omega, of the model (1) of the floating structure w Is the wave frequency; m is the model mass of the floating structure model (1), M a As an additional mass.
8. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, wherein: the rope (4) is a steel wire rope or a light cable, and the elastic system (5) is a spring system; the lengths of the four groups of ropes (4) are the same, and the elastic systems (5) connected in series on the four groups of ropes (4) are the same.
9. The floating structure full-wave low-frequency slow-floating wave load testing device of claim 1, wherein: the floating structure model (1) is provided with a multi-degree-of-freedom motion measuring device (2), the multi-degree-of-freedom motion measuring device (2) and the three-way force sensor (3) are electrically connected to a data analysis system (7), the data analysis system (7) collects real-time detection data and performs analysis and calculation, and the real-time low-frequency slow drift force of the floating structure model (1) in the horizontal direction is calculated.
10. A method for testing the device for testing the full-wave low-frequency slow-floating wave load of the floating structure of claim 9, wherein the method comprises the following steps: the method comprises the following steps:
defining a moving coordinate system O-XYZ by taking the gravity center of the floating structure model (1) as an origin according to a right-hand rule, wherein the moving coordinate system at the initial moment is superposed with a geodetic coordinate system;
setting the positions of the three-way force sensors (3) arranged at the two ends of the floating structure model (1) as a mooring line point A and a mooring line point B;
before the test, the coordinates of the gravity center of the floating structure model (1) in a geodetic coordinate system are (xg, yg, zg), and the coordinates of the mooring point A in a moving coordinate system are (xa) * ,ya * ,za * ) The coordinate of the mooring point B in the moving coordinate system is (xb) * ,yb * ,zb * )；
Obtaining real-time six-degree-of-freedom motion corresponding (x, y, z, phi, theta, beta) of the floating structure model (1) after being influenced by waves by the multi-degree-of-freedom motion measuring device (2), and resolving to obtain a conversion matrix J between a geodetic coordinate system and a moving coordinate system;
resolving real-time positions of a mooring line point A and a mooring line point B by a conversion matrix J;
real-time load Fai under a moving coordinate system is measured by combining real-time positions of a mooring line point A and a mooring line point B and two groups of three-way force sensors (3) * And F bi * And resolving to obtain the floating structure model (1) on the levelLow frequency slow drift force in the direction.
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