CN117312726A - Capability assessment method during anchoring auxiliary power positioning operation - Google Patents

Capability assessment method during anchoring auxiliary power positioning operation Download PDF

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Publication number
CN117312726A
CN117312726A CN202311609091.4A CN202311609091A CN117312726A CN 117312726 A CN117312726 A CN 117312726A CN 202311609091 A CN202311609091 A CN 202311609091A CN 117312726 A CN117312726 A CN 117312726A
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load
cable
ship
thrust distribution
wind
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CN117312726B (en
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黄炜
郭颖
徐凯
赵宾
王福
王小东
李佳川
孟令桐
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707th Research Institute of CSIC
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707th Research Institute of CSIC
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • 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
    • G06F30/28—Design optimisation, verification or simulation using fluid dynamics, e.g. using Navier-Stokes equations or computational fluid dynamics [CFD]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2113/00—Details relating to the application field
    • G06F2113/08—Fluids
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention relates to the technical field of ship dynamic positioning control, and provides a capability assessment method for anchoring auxiliary dynamic positioning operation. The method comprises the following steps: s100, establishing an environment load model; s200, calculating horizontal tension of the cable; s300, superposing the environmental load and the anchoring tension, and calculating to obtain acting force born by the ship; s400, building a thrust distribution module; s500, establishing a judgment condition for successful thrust distribution solution; s600, calculating 360-degree all-directional limit wind speed; and S700, drawing a dynamic positioning capability wind envelope diagram under a polar coordinate system. The invention improves the accuracy and reliability of capability assessment during the anchoring auxiliary power positioning operation and improves the safety of the operation.

Description

Capability assessment method during anchoring auxiliary power positioning operation
Technical Field
The invention relates to the technical field of ship dynamic positioning control, in particular to a capability assessment method during anchoring auxiliary dynamic positioning operation.
Background
The dynamic positioning system can resist the interference of the external marine environment by depending on the propeller of the ship, so as to keep the position and heading of the ship, has the characteristics of strong maneuverability and no limitation by water depth, and gradually becomes the development trend of the marine working industry matched equipment. The dynamic positioning system mainly comprises a control system, a measuring system, a propulsion system and a dynamic system. The control system is a core of the dynamic positioning system, and calculates the control force and moment required for keeping the preset position or heading of the ship by combining the ship motion state information; the measuring system is used for providing real-time and accurate ship position and attitude information; the propulsion system mainly comprises various execution mechanisms, and generates thrust in response to control instructions so as to resist the external environment; the power system is responsible for providing power distribution and management and meets the requirements of various working conditions.
The anchoring positioning is a passive positioning structure, and the principle is that the reverse tension of an anchor cable is utilized to balance the environmental force, so that the purpose of limiting the ship drift is achieved, and the ship drift is kept in a certain range. The anchoring auxiliary dynamic positioning is a mode of dynamic positioning application, and effectively combines a passive anchoring system and an active dynamic positioning system, thereby taking advantages of the two systems into consideration. In relatively rough sea conditions, the anchoring auxiliary power positioning system can better realize the positioning requirement.
The dynamic positioning capability analysis is to calculate the maximum environmental load which can resist different angles by the thrust generated by the dynamic positioning system so as to analyze whether the ship has the capability of positioning under the current environmental condition. In the dynamic positioning operation process, dynamic positioning capability analysis is carried out by combining the working states of the current ship propulsion system and the electric power system, so that a decision basis can be provided for whether an operator continues to carry out operation in the current environment.
The prior technical proposal is a capability calculation method of a single dynamic positioning system, and has no capability calculation method during anchoring auxiliary dynamic positioning operation.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides a capability assessment method for anchoring auxiliary power positioning operation, which can improve the accuracy and reliability of capability assessment for anchoring auxiliary power positioning operation and improve the safety of operation.
The invention provides a capability assessment method for anchoring auxiliary power positioning operation, which comprises the following steps:
s100, acquiring environmental parameters and basic parameters of a ship, and establishing an environmental load model, wherein the environmental load comprises wind load, wave load and flow load;
s200, according to the positioning point position and the heading of the ship, the position of the cable guide hole, the anchoring point and the height difference between the cable guide hole and the anchoring point, horizontal tension of the cable is obtained through catenary theory, and the horizontal tension of the cable is decomposed to obtain an interference load of the cable on the ship;
s300, superposing the environmental load and the interference load of the mooring rope on the ship to obtain acting force born by the ship;
s400, acquiring configuration parameters of a propeller, establishing a thrust distribution module, and inputting a thrust distribution instruction into the thrust distribution module according to acting force received by a ship to obtain a thrust distribution result;
s500, establishing a first judgment condition and a second judgment condition of a thrust distribution result, and adopting the first judgment condition when a thrust distribution instruction is greater than or equal to a set threshold value; when the thrust distribution instruction is smaller than the set threshold value, adopting a second judgment condition;
the first judgment condition is that the thrust error is judged in the form of a thrust instruction percentage; the second judgment condition is to judge the thrust error in an absolute value mode;
s600, if the thrust distribution result meets the first judgment condition or the second judgment condition, increasing the ambient wind speed, and recalculating the ambient load and the thrust distribution result until obtaining the limit wind speed meeting the thrust distribution result;
rotating the environment direction, and recalculating the environment load and the thrust distribution result until 360-degree all-direction limit wind speed calculation is completed;
and S700, drawing a dynamic positioning capability wind envelope diagram under a polar coordinate system according to 360-degree all-directional limit wind speed.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S100, the wind load is calculated as follows:
wherein,is the longitudinal wind load force; />Is the transverse wind load force; />Is the load moment of the bow direction wind; />Is the longitudinal wind load coefficient; />Is the transverse wind load coefficient; />Is the heading wind load coefficient;is air density; />Is the wind speed; />The projected area is the forward wind; />The projected area is the lateral wind; />Is the length of the ship.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S100, the calculation formula of the wave load is as follows:
wherein,is a longitudinal wave load force; />Is a transverse wave load force; />Is the bow wave load moment; />Is longitudinally wave-loadedA load factor; />Is the transverse wave load coefficient; />Is the heading wave load coefficient;is the density of sea water; />Is the amplitude; />Is the length between ship vertical lines.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S100, the calculation formula of the flow load is as follows:
wherein,is a longitudinal flow loading force; />Is a lateral flow loading force; />Is a bow flow load moment; />Is the longitudinal flow load factor; />Is the transverse flow load coefficient; />Is the load coefficient of the bow flow; />Is the flow rate; />Is the width of the ship; />Is used for the draft of the ship.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, the step S200 comprises the following steps:
s210, acquiring the position of a cable guide hole under a geodetic coordinate system;
wherein,the north position of the cable guide hole in the geodetic coordinate system; />The east position of the cable guide hole in the geodetic coordinate system; />、/>、/>Respectively and sequentially representing the north position, the east position and the working heading of the current positioning working point of the ship; />Opposite to the cable guiding holeA longitudinal position at the centre of the vessel; />The transverse position of the cable guiding hole relative to the center of the ship;
s220, acquiring a horizontal distance and a vertical distance between the cable guide hole and the anchoring point;
wherein,the horizontal distance between the position of the cable guide hole and the anchoring point; />Is the vertical distance between the position of the cable guide hole and the throwing anchor point; />The north position of the polishing anchor point under the geodetic coordinate system; />The east position of the throwing anchor point is in the geodetic coordinate system; />Is the vertical distance from the cable guiding hole to the bottom of the ship; />Is the depth of water;
s230, setting horizontal tensionInclination angle of the top of the cable->Rope bottom inclination +.>Initial value, calculate horizontal tension of cable +.>And vertical tension->；
Wherein,is the vertical component of the cable tension at the touchdown point; />The projection distance is the projection distance in the vertical direction of the cable; />The projection distance is the projection distance of the cable in the horizontal direction; />For the unit weight of mooring line>For the modulus of elasticity of the cable,is the cross-sectional area;
s240, setting convergence conditions;
if yes, stopping iterative computation; if not, executing S350 to update the horizontal tension of the cableVertical tension->And returning to the step S330 to carry out iterative computation;
wherein,the distance convergence threshold value in the horizontal direction; />A distance convergence threshold value for the vertical direction;
s250, ifJudging the cable has no ground contact part, +.>，/>The update formula is:
if it isThe update formula is:
wherein,is the distance convergence coefficient in the horizontal direction; />Is the distance convergence coefficient in the vertical direction; />And->Respectively represent the transverse component force and the sag in turnIterating step length coefficients towards component force; />Is the length of the cable;
s260, decomposing the horizontal tension of the cable to obtain the interference load of the cable to the ship under the ship coordinate system; the interference load is calculated as:
wherein,is a longitudinal disturbance load force; />Is a lateral disturbance load force; />The moment is the heading disturbance load moment; />Is the included angle between the horizontal tension direction and the heading of the cable.
According to the capability assessment method for the anchoring auxiliary power positioning operation provided by the invention, in the step S300, acting force applied to a ship is exertedThe calculation formula of (2) is as follows:
wherein,is the longitudinal acting force applied to the ship; />Is the transverse acting force applied to the ship;the bow acting force is applied to the ship; />The number of anchor cables is the number; />Is->And (5) a root anchor line.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S400, a thrust distribution instruction is providedThe method comprises the following steps:
。
according to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the S500, the first judgment condition is as follows:
the second judgment condition is as follows:
wherein,the feedback value of the thrust distribution module; />Threshold parameters of corresponding judgment conditions corresponding to the first judgment conditions; />Is a threshold parameter corresponding to the second judgment condition.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention provides a capability assessment method for anchoring auxiliary power positioning operation, which comprises the following steps:
s100, acquiring environmental parameters and basic parameters of a ship, and establishing an environmental load model, wherein the environmental load comprises wind load, wave load and flow load;
s200, according to the positioning point position and the heading of the ship, the position of the cable guide hole, the anchoring point and the height difference between the cable guide hole and the anchoring point, horizontal tension of the cable is obtained through catenary theory, and the horizontal tension of the cable is decomposed to obtain an interference load of the cable on the ship;
s300, superposing the environmental load and the interference load of the mooring rope on the ship to obtain acting force born by the ship;
s400, acquiring configuration parameters of a propeller, establishing a thrust distribution module, and inputting a thrust distribution instruction into the thrust distribution module according to acting force received by a ship to obtain a thrust distribution result;
s500, establishing a first judgment condition and a second judgment condition of a thrust distribution result, and adopting the first judgment condition when a thrust distribution instruction is greater than or equal to a set threshold value; when the thrust distribution instruction is smaller than the set threshold value, adopting a second judgment condition;
the first judgment condition is that the thrust error is judged in the form of a thrust instruction percentage; the second judgment condition is to judge the thrust error in an absolute value mode;
s600, if the thrust distribution result meets the first judgment condition or the second judgment condition, increasing the ambient wind speed, and recalculating the ambient load and the thrust distribution result until obtaining the limit wind speed meeting the thrust distribution result;
rotating the environment direction, and recalculating the environment load and the thrust distribution result until 360-degree all-direction limit wind speed calculation is completed;
s700, drawing a dynamic positioning capacity wind envelope diagram under a polar coordinate system according to 360-degree omnidirectional limit wind speed; the power positioning capability calculation method under the condition that the operation position and the throwing anchor point position are determined by carrying out capability analysis calculation when the ship breaks down at the current position to carry out positioning operation can provide an auxiliary decision for whether an operator can carry out operation in the current environment, so that the accuracy and the reliability of capability assessment when carrying out anchoring auxiliary power positioning operation are improved, and the safety of operation is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for capability assessment in anchoring assisted dynamic positioning operations provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The following is a capability assessment method for anchoring auxiliary power positioning operation according to the invention in combination with fig. 1, comprising the following steps:
s100, acquiring environmental parameters and basic parameters of a ship, and establishing an environmental load model, wherein the environmental load comprises wind load, wave load and flow load;
s200, according to the positioning point position and the heading of the ship, the position of the cable guide hole, the anchoring point and the height difference between the cable guide hole and the anchoring point, horizontal tension of the cable is obtained through catenary theory, and the horizontal tension of the cable is decomposed to obtain an interference load of the cable on the ship;
s300, superposing the environmental load and the interference load of the mooring rope on the ship to obtain acting force born by the ship;
s400, acquiring configuration parameters of a propeller, establishing a thrust distribution module, and inputting a thrust distribution instruction into the thrust distribution module according to acting force received by a ship to obtain a thrust distribution result;
s500, establishing a first judgment condition and a second judgment condition of a thrust distribution result, and adopting the first judgment condition when a thrust distribution instruction is greater than or equal to a set threshold value; when the thrust distribution instruction is smaller than the set threshold value, adopting a second judgment condition;
the first judgment condition is that the thrust error is judged in the form of a thrust instruction percentage; the second judgment condition is to judge the thrust error in an absolute value mode;
s600, if the thrust distribution result meets the first judgment condition or the second judgment condition, increasing the ambient wind speed, and recalculating the ambient load and the thrust distribution result until obtaining the limit wind speed meeting the thrust distribution result;
rotating the environment direction, and recalculating the environment load and the thrust distribution result until 360-degree all-direction limit wind speed calculation is completed;
and S700, drawing a dynamic positioning capability wind envelope diagram under a polar coordinate system according to 360-degree all-directional limit wind speed.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S100, the wind load is calculated as follows:
wherein,is the longitudinal wind load force; />Is the transverse wind load force; />Is the load moment of the bow direction wind; />Is the longitudinal wind load coefficient; />Is the transverse wind load coefficient; />Is the heading wind load coefficient;is air density; />Is the wind speed; />The projected area is the forward wind; />The projected area is the lateral wind; />Is the length of the ship.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S100, the calculation formula of the wave load is as follows:
wherein,is a longitudinal wave load force; />Is a transverse wave load force; />Is the bow wave load moment; />Is the longitudinal wave load coefficient; />Is the transverse wave load coefficient; />Is the heading wave load coefficient;is the density of sea water; />Is the amplitude; />Is the length between ship vertical lines.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S100, the calculation formula of the flow load is as follows:
wherein,is a longitudinal flow loading force; />Is a lateral flow loading force; />Is a bow flow load moment; />Is the longitudinal flow load factor; />Is the transverse flow load coefficient; />Is the load coefficient of the bow flow; />Is the flow rate; />Is the width of the ship; />Is used for the draft of the ship.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, the step S200 comprises the following steps:
s210, acquiring the position of a cable guide hole under a geodetic coordinate system;
wherein,the north position of the cable guide hole in the geodetic coordinate system; />The east position of the cable guide hole in the geodetic coordinate system; />、/>、/>Respectively and sequentially representing the north position, the east position and the working heading of the current positioning working point of the ship; />The longitudinal position of the cable guiding hole relative to the center of the ship; />The transverse position of the cable guiding hole relative to the center of the ship;
s220, acquiring a horizontal distance and a vertical distance between the cable guide hole and the anchoring point;
wherein,the horizontal distance between the position of the cable guide hole and the anchoring point; />Is the vertical distance between the position of the cable guide hole and the throwing anchor point; />The north position of the polishing anchor point under the geodetic coordinate system; />The east position of the throwing anchor point is in the geodetic coordinate system; />Is the vertical distance from the cable guiding hole to the bottom of the ship; />Is the depth of water;
s230, setting horizontal tensionInclination angle of the top of the cable->Rope bottom inclination +.>Initial value, calculate horizontal tension of cable +.>And vertical tension->；
Wherein,is the vertical component of the cable tension at the touchdown point; />The projection distance is the projection distance in the vertical direction of the cable; />The projection distance is the projection distance of the cable in the horizontal direction; />For the unit weight of mooring line>For the modulus of elasticity of the cable,is the cross-sectional area;
s240, setting convergence conditions;
if yes, stopping iterative computation; if not, executing S350 to update the horizontal tension of the cableVertical tension->And returning to the step S330 to carry out iterative computation;
wherein,the distance convergence threshold value in the horizontal direction; />A distance convergence threshold value for the vertical direction;
s250, ifJudging the cable has no ground contact part, +.>，/>The update formula is:
if it isThe update formula is: />
Wherein,is the distance convergence coefficient in the horizontal direction; />Is the distance convergence coefficient in the vertical direction; />And->Iterative step coefficients respectively representing a transverse component and a vertical component in sequence; />Is the length of the cable;
s260, decomposing the horizontal tension of the cable to obtain the interference load of the cable to the ship under the ship coordinate system; the interference load is calculated as:
wherein,is a longitudinal disturbance load force; />Is a lateral disturbance load force; />The moment is the heading disturbance load moment; />Is the included angle between the horizontal tension direction and the heading of the cable.
According to the capability assessment method for the anchoring auxiliary power positioning operation provided by the invention, in the step S300, acting force applied to a ship is exertedThe calculation formula of (2) is as follows:
wherein,is the longitudinal acting force applied to the ship; />Is the transverse acting force applied to the ship;the bow acting force is applied to the ship; />The number of anchor cables is the number; />Is->And (5) a root anchor line.
According to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the step S400, a thrust distribution instruction is providedThe method comprises the following steps:
。
according to the capability assessment method for anchoring auxiliary power positioning operation provided by the invention, in the S500, the first judgment condition is as follows:
the second judgment condition is as follows:
wherein,the feedback value of the thrust distribution module; />Threshold parameters of corresponding judgment conditions corresponding to the first judgment conditions; />Is a threshold parameter corresponding to the second judgment condition.
The capacity evaluation method for the anchoring auxiliary power positioning operation provided by the embodiment of the invention, wherein the basic parameters of the ship are shown in the table 1:
table 1 basic parameters of vessels
The configuration parameters of the propeller are shown in table 2:
TABLE 2 configuration parameters of propellers
The method comprises the following specific steps:
s100, establishing an environment load model
The environmental load comprises wind load, wave load and flow load, wherein the wind load has the following calculation formula:
wherein,for longitudinal wind load factor->For the transverse wind load factor, < >>The heading wind load coefficient can be obtained through CFD software calculation or wind tunnel test; />The air density was 1.29kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the The wind speed is an iteration quantity, and increases from 0m/s to 0.5m/s.
The flow load calculation formula is as follows:
wherein,for longitudinal flow load factor, +.>For the cross flow load factor->The heading flow load coefficient can be obtained through CFD software calculation or wind tunnel test; />Sea water density of 1.02kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the Flow rate->And measuring according to the current sea state. />
The wave load calculation formula is as follows:
wherein,for longitudinal wave loading systemsCount (n)/(l)>Is a transverse wave load coefficient->For the bow wave load coefficient, the wave spectrum is obtained by adopting hydrodynamic software calculation software based on potential flow theory, and ITTC double-parameter wave spectrum and amplitude +.>Is sense wave height +>According to the observed data of 40 years of stormy waves in the North sea, the response relationship among sense wave height, average wind speed and wave period can be given as shown in the table 3:
TABLE 3 relation between sense wave height, wave period and average wind speed
Calculation of environmental load
Inputting specific environmental parameters, and calculating the environmental load by using an environmental load model.
Wherein the wind speed starts from 0m/s, increases by 0.5m/s each step until the maximum wind speed under the current wind direction angle is obtained, the wind direction is from 0 to 360 degrees, and each iteration step is 10 degrees; the flow rate is used as input according to the flow rate measured under the current operation sea condition; the amplitude of the waves is obtained by the wind speed currently involved in the calculation.
S200, calculating horizontal tension of the cable
According to the positioning point and heading of the ship, the position of the cable guiding hole, the position of the throwing anchor point and the height difference from the cable guiding hole to the anchoring point, the horizontal tension on the cable is calculated by adopting a catenary theory, and the interference load of the cable on the ship is obtained by decomposing the horizontal tension.
S210, firstly, acquiring the position of a cable guide hole under a geodetic coordinate system;
wherein,、/>、/>the sensor can be obtained through a position sensor and a heading sensor arranged on a ship;
s220, calculating the horizontal distance and the vertical distance between the position of the cable guide hole and the anchoring point:
wherein,the north position of the polishing anchor point under the geodetic coordinate system; />The east position of the throwing anchor point under the geodetic coordinate system can be obtained by measuring a position sensor; />Is the water depth, which can be obtained by measuring the water depth sensor.
S230, giving horizontal tensionInclination angle of the top of the cable->Rope bottom inclination +.>An initial value, the horizontal tension on the cable is iteratively calculated using the following +.>And vertical tension->：
Wherein,for the unit weight of mooring line>For modulus of elasticity of the cable>Is the cross-sectional area. />、/>、/>Is related to the material of the anchor cable and is of known quantity.
S240, judging whether the following convergence conditions are met;
if yes, stopping iterative computation; if not, executing S250 to update the horizontal tensionVertical tension->And returns to step S230And carrying out iterative calculation. In->、/>The distance convergence threshold values in the horizontal direction and the vertical direction are respectively +.>，/>。
S250, horizontal tension in iteration processAnd vertical tension->The update formula is as follows:
if it isThe cable is considered to be free of ground contact and therefore +.>，/>The update formula is as follows:
if it isThe update formula is as follows: />
In the method, in the process of the invention,is the distance convergence coefficient in the horizontal direction; />Is the distance convergence coefficient in the vertical direction; />And->Iterative step coefficients representing the lateral component and the vertical component, respectively, in this embodiment +.>，；/>Is a known amount for the cable length.
S260, according to the horizontal tension on the cable, decomposing to obtain the interference load of the cable on the ship under the ship body coordinate system、/>And->
The disturbance load expression is as follows:
s300, superposing the environmental load and the anchoring tension, and calculating to obtain acting force born by the shipIn this embodiment, there is only one anchor line, so the superposition load is as follows:
s400, building a thrust distribution module, wherein the thrust distribution module is used for distributing thrust according to the acting force applied by the ship obtained in the step S300Inputting the command as a thrust distribution module to perform thrust distribution solving; wherein->To input instructions to the thrust distribution module.
S500, establishing a judgment condition for successful thrust distribution solving:
the first judgment condition is as follows:/>
the second judgment condition is as follows:
wherein,and->Threshold parameters corresponding to judgment conditions, respectively, in the present embodiment +.>，。
When the thrust distribution instruction is larger, namely the thrust distribution instruction is larger than or equal to a set threshold value, a first judgment condition is adopted, and the thrust error is judged in a form of thrust instruction percentage; when the thrust distribution command is smaller, that is, the thrust distribution command is smaller than the set threshold (the thrust distribution command in any dimension is smaller than the set threshold), the thrust error is judged by adopting a second judgment condition in an absolute value mode. Either of the above two conditions is satisfied, i.e., the thrust distribution solution is considered successful. In this embodiment, the threshold value is set to [ 20, 20, 200 ].
S600, judging whether a thrust distribution solving success condition is met under the current environmental load, if so, increasing the environmental wind speed, and recalculating the environmental load and the thrust distribution result until obtaining the limit wind speed meeting the thrust distribution result;
and rotating the environment direction, and recalculating the environment load and the thrust distribution result until the 360-degree all-direction limit wind speed calculation is completed.
And S700, drawing a dynamic positioning capability wind envelope diagram under a polar coordinate system according to the 360-degree all-directional limit wind speed value obtained in the S600.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention provides a capability assessment method for anchoring auxiliary power positioning operation, which comprises the following steps:
s100, acquiring environmental parameters and basic parameters of a ship, and establishing an environmental load model, wherein the environmental load comprises wind load, wave load and flow load;
s200, according to the positioning point position and the heading of the ship, the position of the cable guide hole, the anchoring point and the height difference between the cable guide hole and the anchoring point, horizontal tension of the cable is obtained through catenary theory, and the horizontal tension of the cable is decomposed to obtain an interference load of the cable on the ship;
s300, superposing the environmental load and the interference load of the mooring rope on the ship to obtain acting force born by the ship;
s400, acquiring configuration parameters of a propeller, establishing a thrust distribution module, and inputting a thrust distribution instruction into the thrust distribution module according to acting force received by a ship to obtain a thrust distribution result;
s500, establishing a first judgment condition and a second judgment condition of a thrust distribution result, and adopting the first judgment condition when a thrust distribution instruction is greater than or equal to a set threshold value; when the thrust distribution instruction is smaller than the set threshold value, adopting a second judgment condition;
the first judgment condition is that the thrust error is judged in the form of a thrust instruction percentage; the second judgment condition is to judge the thrust error in an absolute value mode;
s600, if the thrust distribution result meets the first judgment condition or the second judgment condition, increasing the ambient wind speed, and recalculating the ambient load and the thrust distribution result until obtaining the limit wind speed meeting the thrust distribution result;
rotating the environment direction, and recalculating the environment load and the thrust distribution result until 360-degree all-direction limit wind speed calculation is completed;
s700, drawing a dynamic positioning capacity wind envelope diagram under a polar coordinate system according to 360-degree omnidirectional limit wind speed; the power positioning capability calculation method under the condition that the operation position and the throwing anchor point position are determined by carrying out capability analysis calculation when the ship breaks down at the current position to carry out positioning operation can provide an auxiliary decision for whether an operator can carry out operation in the current environment, so that the accuracy and the reliability of capability assessment when carrying out anchoring auxiliary power positioning operation are improved, and the safety of operation is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. The capacity evaluation method for the anchoring auxiliary power positioning operation is characterized by comprising the following steps of:
s100, acquiring environmental parameters and basic parameters of a ship, and establishing an environmental load model, wherein the environmental load comprises wind load, wave load and flow load;
s200, according to the positioning point position and the heading of the ship, the position of the cable guide hole, the anchoring point and the height difference between the cable guide hole and the anchoring point, horizontal tension of the cable is obtained through catenary theory, and the horizontal tension of the cable is decomposed to obtain an interference load of the cable on the ship;
s300, superposing the environmental load and the interference load of the mooring rope on the ship to obtain acting force born by the ship;
s400, acquiring configuration parameters of a propeller, establishing a thrust distribution module, and inputting a thrust distribution instruction into the thrust distribution module according to acting force received by a ship to obtain a thrust distribution result;
s500, establishing a first judgment condition and a second judgment condition of a thrust distribution result, and adopting the first judgment condition when a thrust distribution instruction is greater than or equal to a set threshold value; when the thrust distribution instruction is smaller than the set threshold value, adopting a second judgment condition;
the first judgment condition is that the thrust error is judged in the form of a thrust instruction percentage; the second judgment condition is to judge the thrust error in an absolute value mode;
s600, if the thrust distribution result meets the first judgment condition or the second judgment condition, increasing the ambient wind speed, and recalculating the ambient load and the thrust distribution result until obtaining the limit wind speed meeting the thrust distribution result;
rotating the environment direction, and recalculating the environment load and the thrust distribution result until 360-degree all-direction limit wind speed calculation is completed;
and S700, drawing a dynamic positioning capability wind envelope diagram under a polar coordinate system according to 360-degree all-directional limit wind speed.
2. The method for evaluating the capability of anchoring assistance power positioning according to claim 1, wherein in the step S100, the wind load is calculated by the formula:
wherein,is the longitudinal wind load force; />Is the transverse wind load force; />Is the load moment of the bow direction wind; />Is the longitudinal wind load coefficient; />Is the transverse wind load coefficient; />Is the heading wind load coefficient; />Is air density;is the wind speed; />The projected area is the forward wind; />The projected area is the lateral wind; />For the length of the shipDegree.
3. The method for evaluating the capacity of an anchoring assistance power positioning operation according to claim 2, wherein in the step S100, the wave load is calculated by the following formula:
wherein,is a longitudinal wave load force; />Is a transverse wave load force; />Is the bow wave load moment; />Is the longitudinal wave load coefficient; />Is the transverse wave load coefficient; />Is the heading wave load coefficient; />Is the density of sea water; />Is the amplitude; />Is the length between ship vertical lines.
4. A method for evaluating the capacity of an anchor assisted dynamic positioning operation according to claim 3, wherein in the step S100, the flow load is calculated by the formula:
wherein,is a longitudinal flow loading force; />Is a lateral flow loading force; />Is a bow flow load moment;is the longitudinal flow load factor; />Is the transverse flow load coefficient; />For loading the bow flowA load factor; />Is the flow rate; />Is the width of the ship; />Is used for the draft of the ship.
5. The method for evaluating the capability of anchoring assistance in a dynamic positioning operation according to claim 4, wherein said step S200 comprises:
s210, acquiring the position of a cable guide hole under a geodetic coordinate system;
wherein,the north position of the cable guide hole in the geodetic coordinate system; />The east position of the cable guide hole in the geodetic coordinate system; />、/>、/>Respectively and sequentially representing the north position, the east position and the working heading of the current positioning working point of the ship; />For guiding the cable relative to the centre of the vesselA longitudinal position; />The transverse position of the cable guiding hole relative to the center of the ship;
s220, acquiring a horizontal distance and a vertical distance between the cable guide hole and the anchoring point;
wherein,the horizontal distance between the position of the cable guide hole and the anchoring point; />Is the vertical distance between the position of the cable guide hole and the throwing anchor point; />The north position of the polishing anchor point under the geodetic coordinate system; />The east position of the throwing anchor point is in the geodetic coordinate system; />Is the vertical distance from the cable guiding hole to the bottom of the ship; />Is the depth of water;
s230, setting horizontal tensionInclination angle of the top of the cable->Rope bottom inclination +.>Initial value, calculate horizontal tension of cable +.>And vertical tension->；
Wherein,is the vertical component of the cable tension at the touchdown point; />The projection distance is the projection distance in the vertical direction of the cable;the projection distance is the projection distance of the cable in the horizontal direction; />For the unit weight of mooring line>For modulus of elasticity of the cable>Is the cross-sectional area;
s240, setting convergence conditions;
if yes, stopping iterative computation; if not, executing S250, and updating the horizontal tension of the cableVertical tension->And returning to the step S230 to carry out iterative computation;
wherein,the distance convergence threshold value in the horizontal direction; />A distance convergence threshold value for the vertical direction;
s250, ifJudging the cable has no ground contact part, +.>，/>The update formula is:
if it isThe update formula is:
wherein,is the distance convergence coefficient in the horizontal direction; />Is the distance convergence coefficient in the vertical direction; />And->Iterative step coefficients respectively representing a transverse component and a vertical component in sequence; />Is the length of the cable;
s260, decomposing the horizontal tension of the cable to obtain the interference load of the cable to the ship under the ship coordinate system; the interference load is calculated as:
wherein,is a longitudinal disturbance load force; />Is a lateral disturbance load force; />The moment is the heading disturbance load moment; />Is the included angle between the horizontal tension direction and the heading of the cable.
6. The method for evaluating the capability of an assisted dynamic positioning operation according to claim 5, wherein in said step S300, the shipThe applied forceThe calculation formula of (2) is as follows:
wherein,is the longitudinal acting force applied to the ship; />Is the transverse acting force applied to the ship; />The bow acting force is applied to the ship; />The number of anchor cables is the number; />Is->And (5) a root anchor line.
7. The method for evaluating the capability of a power assisted anchoring operation according to claim 6, wherein in the step S400, a thrust distribution command is issuedThe method comprises the following steps:
。
8. the method for evaluating the capability of anchoring assistance power positioning according to claim 7, wherein in S500, the first judgment condition is:
the second judgment condition is as follows:
wherein,the feedback value of the thrust distribution module; />Threshold parameters of corresponding judgment conditions corresponding to the first judgment conditions; />Is a threshold parameter corresponding to the second judgment condition.
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