CN117421685B - Deep sea abnormal wave rapid early warning method based on modulation instability development - Google Patents
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Abstract
The invention relates to the technical field of ocean engineering, in particular to a rapid early warning method for abnormal waves in the deep sea based on modulation instability development. The invention firstly provides a composite system for real-time monitoring and predictive analysis processing of abnormal wave signals in an actual marine environment, various signal analysis processing means are introduced to remove noise signals in waves, all information of fundamental frequency waves related to the abnormal waves is accurately extracted, rapid evolution analysis of the abnormal waves is carried out based on a control equation containing third-order modulation instability, and nonlinear effects of resonance coupling among four free waves are effectively captured. The method can effectively capture the deepwater abnormal waves generated during the coupling resonance action of four free waves, and can accurately forecast the probability and the height value of the abnormal waves by setting reasonable early warning radius length. The invention can be installed on different ocean structures according to the actual engineering requirement, and provides auxiliary reference information required by decision making for offshore safety operation.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a rapid early warning method for abnormal waves in the deep sea based on modulation instability development.
Background
Deep sea abnormal waves are abnormal waves which can suddenly appear on the sea without any warning, and cause destructive damage to marine structures such as ships, offshore platforms, renewable energy devices, marine pasture equipment and the like, and even serious injury to maritime staff working.
In order to realize early warning of abnormal waves in deep sea, a single-point measuring system such as a buoy, a laser radar and the like is generally distributed throughout the sea area to collect wave data, a rule of local abnormal wave generation is searched through statistical analysis, and then a safe window period of operation is provided. However, this approach has a series of problems such as a long construction period and low precision. With the technical progress, chinese patent CN C106990404a discloses an automatic scaling algorithm for inverting sea surface wave height using a navigation X-band radar, establishes a function targeting minimizing the difference between dimensionless wave height and relative wave height, and solves the function to determine the wave height. However, the prediction of the abnormal waves lacks enough analysis and processing means, or noise signals cannot be effectively removed or useful information cannot be extracted, so that the signal analysis result is inaccurate or unstable; and whether abnormal waves occur at the designated position cannot be judged in advance through simulating the evolution process of the waves in the operation sea area in real time.
Disclosure of Invention
The invention aims to solve the technical problems that: the method for quickly early warning the abnormal waves in the deep sea based on modulation instability development is provided, sea conditions of an operation area are monitored in real time, time domain wave signals are extracted and processed, a time-space evolution process of the time-space evolution is simulated based on a control equation containing modulation instability, and the possibility of abnormal wave generation is judged in advance.
The technical scheme of the invention is as follows:
a rapid early warning method for abnormal waves in deep sea based on modulation instability development comprises the following steps:
s1, acquiring a wave surface time course curve of sea waves in real time through a buoy measuring subsystem, performing basic signal processing, and selecting buoy data with a main propagation direction passing through a pre-warning center processing system as key analysis wave trains;
s2, removing noise information in the wave signals by adopting a Kalman filter, and synthesizing an initial complex wave packet sequence input into a processing system of the early warning center by using Hilbert transformation;
s3, carrying out space-time evolution simulation of the wave packet sequence through a third-order Schrodinger equation with an expression form of a space domain, and extracting a complex wave packet sequence at a designated position;
s4, synthesizing a free wave surface and a bound wave surface at a designated position by using an associated expression of a liquid level elevation and a wave packet based on an evolved complex wave packet sequence, and reconstructing a time-course curve of an actual wave surface after overlapping the free wave surface and the bound wave surface;
s5, analyzing the whole sequence by adopting an upper zero crossing method and a lower zero crossing method respectively, calculating the wave height and the period of each single wave, and extracting the maximum height valueH f And corresponding periodT f ；
S6, calculating sense wave height of the designated position by utilizing a mathematical statistical analysis method and combining a wave surface time course curveH s Comparing it with the maximum single wave heightH f And (2) comparing the preset dangerous period T of the early warning center processing system with the preset dangerous period TT f And judging whether to issue abnormal wave generation alarm and abnormal wave disaster alarm.
In some embodiments, in S1, the buoy measuring subsystem is provided with a wave acquisition and analysis system, an energy acquisition system and a radio communication system; after the buoy measurement subsystem performs preliminary analysis on the acquired information, the information is transmitted to the early warning center processing system in real time through the radio communication system; the early warning center processing system is arranged on the ocean structure for avoiding abnormal wave attack, has stronger data storage and processing capacity, and predicts wave field information of surrounding and central areas in real time.
In some embodiments, in the step S1, the eight buoy measurement subsystems are uniformly distributed in a ring formed by a dotted line with an interval angle of 45 degreesThe center of the circle is the position of the early warning center processing system of the abnormal wave; radius of circular ringRSelected as 20Lp~40Lp，LpThe wavelength corresponding to the spectral peak period of irregular waves in the working sea area.
In some embodiments, in S2, the method further includes a pre-step of hilbert transformation, extracting energy of free waves from the wave signal, and deleting the influence of bound waves:
s21, after spectrum analysis, selecting a frequency band with concentrated energy to perform inverse Fourier transform to generate a new time sequenceη 0 (t) Time series obtained by combining Hilbert transformη 1 (t) Synthesizing an initial complex wavefront sequenceη 0 (t)+iη 1 (t)，tTime, i is an imaginary unit;
s22, respectively obtaining expressions of complex wave packet sequences by using phase and modular length formulas of complex variation functions：
(1)
(2)
Wherein,for the amplitude of the wave packet, +.>Is the initial phase of the wave packet.
In some embodiments, in S3, the third-order Schrodinger equation of the spatial domain is:
(3)
wherein,，/>for carrier frequency +.>The wave number is carrier wave number, x is space coordinate;
after applying periodic boundary conditions to the initial complex wave packet sequence, solving a Fourier algorithm adopting a cracking step length in a formula (3), wherein the method comprises the following steps:
s31, for the third itemCarrying out numerical integration solution on the third-order nonlinear item of (2) in a physical space by a finite difference method;
s32, for the second itemAnd (3) carrying out accurate analytic solution by converting the linear dispersion term into Fourier space.
In some embodiments, in S4, the liquid levelηElevation and wave packetBThe associated expression of (2) is:
(4)
wherein the first itemWave surface generated for free wave interaction, second termThe wave surface generated for the action of the confining wave has its phase changed in synchronism with the phase of the free wave.
In some embodiments, in S6, the early warning center processing system further includes two logic analysis modules, namely an abnormal wave generation alarm and an abnormal wave disaster alarm:
s61, judging standard of abnormal wave generation:
if it isH f <2H s Then no abnormal wave is generated;
if it isH f >2H s Then the early warning system prompts the generation of abnormal waves and outputs the estimated height valueH f ；
S62, judging standard for causing disastrous results after abnormal wave generation:
if it isThe early warning system sends out red disaster early warning;
if it isThe early warning system gives out orange dangerous early warning;
if it isThe early warning system does not send out dangerous early warning.
In some embodiments, in S62, the determination criteria for abnormal wave generation further includes a synchronization verification process for verifying accuracy of the statistical analysis process, and the synchronization verification is implemented by using spectral analysis, i.e. sense wave heightH s Equal to four times the square root of the energy spectrum area.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the invention, through the composite system for monitoring, predicting, analyzing and processing the first abnormal wave signal in real time, which is established in the actual marine environment, the probability and the height value of abnormal wave generation can be accurately predicted by setting a reasonable early warning radius length.
(2) The invention carries out the time-space evolution calculation of the wave packet sequence based on the third-order Schrodinger equation containing modulation instability, not only has high calculation speed, but also can capture the nonlinear effect of resonance coupling among four free waves.
(3) According to the invention, various wave signal analysis and processing means are introduced, compared with the prior art, noise signals in waves can be effectively removed, all information of fundamental frequency waves related to abnormal waves can be accurately extracted, and the reconstructed wave analysis signals are more stable and smoother.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is an overall flow diagram of the present invention;
FIG. 2 is an overall spatial layout of the present invention;
FIG. 3 is a graph of the smooth wavefront of a single wavefronts obtained after processing in example 1 of the present invention;
FIG. 4 is a plot of the wavefront of the outlier and the burst splitting predicted in example 1 of the present invention;
FIG. 5 is a graph showing the comparison of the functional relationship between the crest factor and the early warning radius length at the high sea condition in example 2 of the present invention;
FIG. 6 is a graph showing the comparison of the probability of abnormal wave generation versus the length of the pre-warning radius in the case of the high sea condition in example 2 of the present invention;
FIG. 7 is a graph comparing the maximum dimensionless wave height as a function of the crest factor in four typical sea conditions in example 2 of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only 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 present invention without making any inventive effort, shall fall within the scope of the present invention.
As shown in FIG. 1, the signal analysis and disaster early warning processing system for abnormal wave generation comprises the following steps:
s1: acquiring a wave surface time course curve of the sea wave in real time through a buoy measurement subsystem, performing basic signal processing, and selecting buoy data with a main propagation direction passing through an early warning center processing system as key analysis wave trains;
further, as shown in fig. 2, the eight buoy measuring subsystems are uniformly distributed on a ring formed by the broken lines with an interval angle of 45 degrees, and the center of the ring is the position of the early warning center processing system of abnormal waves. According to the actual condition of the radius of the circular ringROptionally 20Lp~40LpWherein, the method comprises the steps of, wherein,Lpthe wavelength corresponding to the spectral peak period of irregular waves in the working sea area. After the buoy measurement subsystem performs preliminary analysis on the acquired information, the information is transmitted to the early warning center processing system in real time through the radio communication system. Each buoy measurement subsystem is provided with a basic wave acquisition and analysis system, an energy acquisition system (such as a solar panel) and a radio communication system. The early warning center processing system is usually installed on a marine structure which needs to avoid abnormal wave attack, has stronger data storage and processing capacity, and can estimate wave field information of surrounding and central areas in real time.
S2: removing noise information in the wave signals by adopting a Kalman filter, and synthesizing an initial complex wave packet sequence input into a processing system of the early warning center by using Hilbert transformation;
furthermore, before Hilbert transform, free wave energy is extracted from wave signal, influence of bound wave is eliminated, after spectral analysis, frequency band with concentrated energy is selected for inverse Fourier transform to generate new time sequenceη 0 (t) Time series obtained by combining Hilbert transformη 1 (t) Synthesizing an initial complex wavefront sequenceη 0 (t)+iη 1 (t)。tI is an imaginary unit for time. Then the phase and modular length formula of complex variational function are used to respectively obtain the expression of complex wave packet sequence：
(1)
(2)
Wherein,for the amplitude of the wave packet, +.>Is the initial phase of the wave packet.
S3: carrying out space-time evolution simulation of the wave packet sequence through a third-order Schrodinger equation with an expression form of a space domain, and extracting a complex wave packet sequence at a designated position;
further, the theoretical expression of the third-order Schrodinger equation of the spatial domain in step S3 is:
(3)
wherein,，/>for carrier frequency +.>The wave number is carrier wave number, x is space coordinate;
further, after applying a periodic boundary condition to the initial complex wave packet sequence, the fourier algorithm of the cracking step size can be adopted to solve the formula (3). The process of solving is divided into two parts: carrying out numerical integration solution on a third-order nonlinear item of the third item in a physical space by a finite difference method; for the linear dispersion term of the second term, the exact analytical solution is performed by converting to fourier space.
S4: based on the evolving wave packet sequence, synthesizing a free wave surface and a bound wave surface at a designated position by utilizing an associated expression of the liquid level elevation and the wave packet, and reconstructing a time-course curve of an actual wave surface after overlapping the free wave surface and the bound wave surface;
further, the liquid level used in step S4ηAnd wave packetBThe relation of (2) is:
(4)
the first term is a wave surface generated by the interaction of free waves, the second term is a wave surface generated by the interaction of bound waves, and the phase of the wave surface and the phase of the free waves keep synchronous change.
S5: analyzing the whole sequence by adopting an upper zero crossing method and a lower zero crossing method, calculating the wave height and period of each single wave, and extracting the maximum height valueH f And corresponding periodT f 。
S6: method for calculating sense wave height of designated position by combining wave surface time course curve by utilizing mathematical statistical analysisH s Comparing it with the maximum single wave heightH f Is compared with the preset dangerous period of the early warning systemTAnd (3) withT f And judging whether to issue abnormal wave generation alarm and abnormal wave disaster alarm.
Further, in step S6, the specification of the abnormal wave generation standard and the abnormal wave disaster standard is determined as follows:
s61: decision criteria for abnormal wave generation: if it isH f <2H s Then no abnormal wave is generated; if it isH f >2H s Then the early warning system prompts the generation of abnormal waves and outputs the estimated height valueH f 。
Specifically, the method also comprises a synchronous verification process for verifying the accuracy of the statistical analysis process, wherein the synchronous verification, namely sense wave height, is realized by adopting spectrum analysisH s Equal to four times the square root of the energy spectrum area.
S62: decision criteria for catastrophic outcome after abnormal wave generation:
if it isThe early warning system sends out red disaster early warning;
if it isThe early warning system gives out orange dangerous early warning;
if it isThe early warning system does not send out dangerous early warning.
Specific examples of the different embodiments are described below.
Example 1:
the embodiment predicts the evolution process of the single regular wave group by the early warning system to prove that the method can effectively predict abnormal waves generated by modulation instability induction in the wave group.
After a signal of a certain single wave group is obtained through measurement of a buoy measuring and calculating subsystem, noise information in a wave signal is removed by adopting a Kalman filter, free wave information in the wave group is extracted based on Fourier transformation, and a smooth wave surface can be obtained by reconstructing the signal by applying inverse transformation, as shown by a solid line in fig. 3. And then, performing phase translation processing on the signals by using Hilbert transformation, and synthesizing initial complex wave packet signals input into the early warning processing system through formulas (1) and (2), wherein the initial complex wave packet signals correspond to the module length of wave packets, as shown by the dotted line in FIG. 3.
The evolution of the wave group is predicted by adopting an early warning center processing system, and wave surface elevation information of the wave group at any position in a propagation space can be obtained. As shown in fig. 4, since the initial nonlinearity of the wave group is stronger, the third-order modulation instability will induce the wave group to generate fission, and the front and rear wave groups are symmetrically distributed about the middle wave group, in addition, the wave surface of the middle wave group is rapidly raised, so as to generate singular waves, this embodiment fully proves that the early warning model can effectively capture the resonance coupling effect between four free waves, can be used for forecasting abnormal waves generated based on nonlinear energy focusing at sea, and in addition, the early warning system can effectively forecast linear energy focusing waves generated based on phase coupling.
Example 2:
in the embodiment 2, a warning system is adopted to forecast a plurality of wave trains randomly irregular in deep water, and the statistical forecasting precision of the method for various sea conditions under different warning radiuses is analyzed through comparison with actual measured values.
In order to predict irregular waves which more accord with the real ocean environment, the embodiment firstly analyzes an early warning effect of a high sea condition with strong nonlinearity, selects a JONSWAP spectrum as a characteristic spectrum of random sea waves, and simultaneously selects 5 random working conditions for early warning and comparison analysis aiming at the sea condition in order to finally achieve a stable and reliable statistical analysis result.
Fig. 5 shows first the functional relationship between the crest factor of the sea state and the length of the warning radius. If the predicted spatial evolution distance is short, the deviation between the early warning value and the actual value is large, and the time for taking response measures in the actual engineering is too short to be implemented. For the sea condition, the predicted radius range with the early warning value of the kurtosis coefficient which is well matched with the actual value is approximately distributed at 20Lp~40LpBetween them.
FIG. 6 shows an inherent relationship between the probability of singular wave generation at high sea conditions and the length of the alert radius, very similar to the kurtosis coefficient of FIG. 5, the alert radius is less than 20LpWhen the early warning value is larger than the actual value, the error of the forecasting probability is larger. When the predicted radius is greater than 25LpWhen the early warning value is smaller than the actual value, the deviation of the early warning value and the actual value is gradually increased, and the early warning value and the actual value become extremely unstable. Therefore, only the early warning radius is controlled at 20Lp~25LpIn the time, from the perspective of statistical analysis, the early warning system can accurately capture the probability of actual generation of abnormal waves.
In order to more comprehensively analyze the prediction performance of the newly constructed abnormal wave early warning system, the total analysis of early warning values is carried out by respectively selecting four sea conditions from low to high. Fig. 7 shows the dimensionless maximum wave height value of all sea conditions as a function of kurtosis coefficient, which shows a certain linear proportional relationship. Although the maximum wave height value predicted by the early warning value is larger when the kurtosis coefficient is larger, the early warning system can well predict the statistical height of abnormal waves generated in most sea conditions as a whole. In view of the fact that the early warning processing system needs very few computing resources and has very high operation speed, the early warning processing system can be used as an effective module for predicting abnormal waves generated in deep sea narrow-spectrum irregular waves.
In summary, the method can effectively capture the deepwater abnormal waves generated by the four free wave coupling resonance actions, and can accurately forecast the probability and the height value of the abnormal waves by setting reasonable early warning radius length. Therefore, the early warning system can be installed on different marine structures according to the actual engineering requirement, and auxiliary reference information required in decision making is provided for offshore safety operation.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A rapid early warning method for abnormal waves in deep sea based on modulation instability development is characterized by comprising the following steps:
s1, acquiring a wave surface time course curve of sea waves in real time through a buoy measuring subsystem, performing basic signal processing, and selecting buoy data with a main propagation direction passing through a pre-warning center processing system as key analysis wave trains;
the eight buoy measuring subsystems take 45 degrees as interval angles, are uniformly distributed on a ring formed by broken lines, and the circle center of the eight buoy measuring subsystems is the position of an early warning center processing system of abnormal waves; radius of circular ringRSelected as 20Lp~40Lp，LpThe wavelength corresponding to the spectrum peak period of the irregular wave in the operation sea area;
s2, removing noise information in the wave signals by adopting a Kalman filter, and synthesizing an initial complex wave packet sequence input into a processing system of the early warning center by using Hilbert transformation; the method also comprises the pre-step of Hilbert transformation, wherein the pre-step of Hilbert transformation is used for extracting the energy of free waves from wave signals and deleting the influence of bound waves:
s21, after spectrum analysis, selecting a frequency band with concentrated energy to perform inverse Fourier transform to generate a new time sequenceη 0 (t) Time series obtained by combining Hilbert transformη 1 (t) Synthesizing an initial complex wavefront sequenceη 0 (t)+iη 1 (t)，tTime, i is an imaginary unit;
s22, respectively obtaining expressions of complex wave packet sequences by using phase and modular length formulas of complex variation functions：
(1)
(2)
Wherein,for the amplitude of the wave packet, +.>Is the initial phase of the wave packet;
s3, carrying out space-time evolution simulation of the wave packet sequence through a third-order Schrodinger equation with an expression form of a space domain, and extracting a complex wave packet sequence at a designated position;
the third order Schrodinger equation for the spatial domain is:
(3)
wherein,，/>for carrier frequency +.>The wave number is carrier wave number, x is space coordinate;
after applying periodic boundary conditions to the initial complex wave packet sequence, solving a Fourier algorithm adopting a cracking step length in a formula (3), wherein the method comprises the following steps:
s31, for the third itemCarrying out numerical integration solution on the third-order nonlinear item of (2) in a physical space by a finite difference method;
s32, for the second itemThe linear dispersion term of (2) is converted into Fourier space to carry out accurate analysis and solution;
s4, synthesizing a free wave surface and a bound wave surface at a designated position by using an associated expression of a liquid level elevation and a wave packet based on an evolved complex wave packet sequence, and reconstructing a time-course curve of an actual wave surface after overlapping the free wave surface and the bound wave surface;
liquid levelηElevation and wave packetBThe associated expression of (2) is:
(4)
wherein the first itemWave surface generated for free wave interaction, second termThe wave surface generated for the action of the confining wave has the phase which is kept to be changed synchronously with the phase of the free wave;
s5, analyzing the whole sequence by adopting an upper zero crossing method and a lower zero crossing method respectively, calculating the wave height and the period of each single wave, and extracting the maximum height valueH f And corresponding periodT f ；
S6, calculating sense wave height of the designated position by utilizing a mathematical statistical analysis method and combining a wave surface time course curveH s Comparing it with the maximum single wave heightH f And (2) comparing the preset dangerous period T of the early warning center processing system with the preset dangerous period TT f Judging whether to send out abnormal wave generation alarm and abnormal wave disaster alarm;
the early warning center processing system also comprises two logic analysis modules, namely an abnormal wave generation alarm and an abnormal wave disaster alarm:
s61, judging standard of abnormal wave generation:
if it isH f <2H s Then no abnormal wave is generated;
if it isH f >2H s Then the early warning system prompts the generation of abnormal waves and outputs the estimated height valueH f ；
S62, judging standard for causing disastrous results after abnormal wave generation:
if it isThe early warning system sends out red disaster early warning;
if it isThe early warning system gives out orange dangerous early warning;
if it isThe early warning system does not send out dangerous early warning;
the abnormal wave generation judgment standard also comprises a synchronous verification process for verifying the accuracy of the statistical analysis process, and synchronous verification, namely sense wave height, is realized by adopting spectrum analysisH s Equal to four times the square root of the energy spectrum area.
2. The rapid early warning method for abnormal deep sea waves based on modulation instability development according to claim 1, wherein in the step S1, a buoy measuring and calculating subsystem is provided with a wave acquisition and analysis system, an energy acquisition system and a radio communication system; after the buoy measurement subsystem performs preliminary analysis on the acquired information, the information is transmitted to the early warning center processing system in real time through the radio communication system; the early warning center processing system is arranged on the ocean structure for avoiding abnormal wave attack, has stronger data storage and processing capacity, and predicts wave field information of surrounding and central areas in real time.
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