WO2018233025A1 - 海洋浮式结构物参数共振运动的预警方法、装置及设备 - Google Patents

海洋浮式结构物参数共振运动的预警方法、装置及设备 Download PDF

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WO2018233025A1
WO2018233025A1 PCT/CN2017/099596 CN2017099596W WO2018233025A1 WO 2018233025 A1 WO2018233025 A1 WO 2018233025A1 CN 2017099596 W CN2017099596 W CN 2017099596W WO 2018233025 A1 WO2018233025 A1 WO 2018233025A1
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frequency
motion
time
history data
signal
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English (en)
French (fr)
Inventor
马宁
于立伟
平川嘉昭
荒井诚
王德禹
顾解忡
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Shanghai Jiao Tong University
Yokohama National University NUC
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Shanghai Jiao Tong University
Yokohama National University NUC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles

Definitions

  • the invention relates to the field of marine and marine engineering, in particular to an early warning method, device, storage medium and device for detecting parametric resonance motion of a marine floating structure.
  • Marine floating structures such as ships, offshore platforms and offshore floating fans, in addition to conventional wave-induced motions under wave excitation, can also undergo nonlinear parametric resonance motions such as: container ship and luxury cruise ship parameters roll Motion, SPAR platform and parametric motion of floating fans at sea.
  • roll Motion roll Motion
  • SPAR platform SPAR platform
  • parametric motion of floating fans at sea When the parametric resonance occurs, it will be accompanied by the drastic movement of the floating structure or even the instability and overturning, causing significant loss of personnel and property, such as the loss of the container ship under large parameters, the SPAR platform and the floating fan at sea. Large-scale parameters such as cable breakage under pitching motion. Therefore, it is urgent to take measures to avoid the occurrence of parametric resonance.
  • the marine floating structure is equipped with active (active anti-rolling water tank, fin stabilizer, dynamic positioning system, etc.) and passive devices (passive anti-rolling tank, bilge keel, heave plate, etc.) for wave stimulation.
  • active active anti-rolling water tank, fin stabilizer, dynamic positioning system, etc.
  • passive devices passive anti-rolling tank, bilge keel, heave plate, etc.
  • wave stimulation Effective evasion of exercise.
  • these devices have limited effect on parametric resonance motion avoidance that is more severe than conventional wave motion.
  • the motion amplitude is small. Therefore, if an early warning can be made at the beginning of the parametric resonance, and the device is used to change the condition for achieving resonance, it is possible to efficiently avoid the parametric resonance motion by consuming a small amount of energy. It can be seen that the advance warning device of the marine floating structure is of great significance for its safety.
  • Chinese invention patent application "a method for predicting and controlling ship track tracking with active suppression of parameter roll" (publication number: CN104881040A) proposes that when the ship is subjected to parameter roll, the rudder is used to minimize the track tracking performance of the ship at the expense of the ship. Under the premise, the parameter roll is suppressed.
  • the rudder performs the yaw when a large parametric resonance motion occurs, which requires a large amount of energy and affects the track tracking performance of the ship. It can be seen that the advance warning of the parametric resonance motion is important for suppressing when the motion amplitude is small.
  • the inventor of the Korean patent "Parametric roll preventing apparatus and method for vessel” proposes an early warning method and apparatus for ship parameter roll, and uses the rudder to perform parameter roll suppression.
  • the wave monitoring device that needs to be used in the early warning device is not easy to obtain, and the application has certain limitations, which is obviously different from the parameter resonance early warning in the present invention using only the easily acquired motion signal.
  • the inventor of the Danish patent “Prediction of resonant oscillation” (Publication No.: WO2010118752A1) proposes an algorithm and apparatus for performing parameter resonance prediction between two related oscillating signals, which perform two correlation oscillating signals in the time domain and the frequency domain.
  • the object of the present invention is to provide an early warning method, device, medium and device for the resonant motion of parameters of a marine floating structure, and to realize parameter resonance motion by using a more efficient algorithm and less device cost.
  • the advance warning is expected to be able to efficiently avoid the parametric resonance motion when the amplitude of the initial motion of the parametric resonance is small and consumes a small amount of energy.
  • the present invention provides an early warning method for parameter resonance motion of a marine floating structure, comprising: acquiring motion signals of different degrees of freedom of the marine floating structure collected in real time; The time history data of the different motion signals are linearly superimposed to obtain time history data of the combined signal; the instantaneous frequency time history data of the instantaneous frequency of the combined signal is generated according to the time history data of the combined signal; A frequency mutation is identified in the frequency history data; wherein the frequency mutation is caused by a frequency doubling relationship between motion signals at least two degrees of freedom when the parameter resonance motion occurs; and the parameter resonance is calculated according to the frequency mutation The moment of the movement takes place for early warning.
  • the instantaneous frequency of the instantaneous frequency of the combined signal is generated according to the time history data of the combined signal, and the historical data is implemented based on the incremental real-time Hilbert-Huang algorithm, including : selecting all modal functions that are locally symmetrical to the mean zero from the combined signal; performing a Hilbert transform on the filtered modal function to obtain the instantaneous frequency.
  • the calculating the time at which the parameter resonance motion occurs according to the frequency mutation includes: establishing condition ⁇ 1 and condition ⁇ 2 :
  • f MA (t) is the instantaneous frequency
  • t h is the time of the Gibbs peak point
  • ⁇ 1 is the parameter
  • T S2 is the natural period of the target motion signal
  • the frequency falling amplitude ⁇ indicates the frequency relative to [0, t h
  • the amplitude of the average frequency f Average (t h ) in the interval, ⁇ cr is the preset critical frequency falling amplitude;
  • ⁇ PR is the rate of change threshold, above which the parameter resonance motion may occur, and below this threshold value is not the frequency change caused by the parameter resonance; according to the condition ⁇ 1 and condition ⁇ 2 , the parameter is calculated.
  • the change rate threshold ⁇ PR is set to: a difference between a natural frequency of the target motion signal and a natural frequency of a motion signal that forms a multiplication relationship with the target motion signal, and a transition time And a ratio, wherein the transition time is a sum of a natural period of the target motion signal and a natural period of a motion signal that forms a multiplication relationship with the target motion signal.
  • the instantaneous frequency time history data is preprocessed to eliminate the data point caused by the numerical error;
  • the pre-processed instantaneous frequency history data is substituted as the instantaneous frequency f MA (t) into the condition ⁇ 1 and the condition ⁇ 2 for calculation.
  • the pre-processing is implemented based on a moving average algorithm.
  • the present invention provides an early warning device for a parametric resonance motion of a marine floating structure, comprising: a signal acquisition module, configured to acquire different degrees of freedom of the marine floating structure collected in real time. a motion signal; a signal processing module, configured to linearly superimpose the time history data of the different motion signals to obtain time history data of the combined signal; and generate an instantaneous frequency of the combined signal according to the time history data of the combined signal with time Varying instantaneous frequency history data; identifying a frequency mutation from the instantaneous frequency history data; wherein the frequency mutation is a frequency doubling relationship between motion signals at least two degrees of freedom when the parametric resonance motion occurs
  • the resonance early warning module is configured to calculate a time at which the parameter resonance motion occurs according to the frequency mutation to provide an early warning.
  • the signal processing module generates the instantaneous frequency time history data according to the time history data of the combined signal, which is implemented based on an incremental real-time Hilbert-Huang algorithm, including: All the modal functions that are locally symmetrical to the mean zero are selected in the combined signal; the filtered modal function is subjected to a Hilbert transform to obtain the instantaneous frequency.
  • the resonance early warning module calculates the time at which the parameter resonance motion occurs according to the frequency mutation calculation is achieved by: establishing condition ⁇ 1 and condition ⁇ 2 :
  • f MA (t) is the instantaneous frequency
  • t h is the time of the Gibbs peak point
  • ⁇ 1 is the parameter
  • T S2 is the natural period of the target motion signal
  • the frequency falling amplitude ⁇ indicates the frequency relative to [0, t h
  • the amplitude of the average frequency f Average (t h ) in the interval, ⁇ cr is the preset critical frequency falling amplitude;
  • ⁇ PR is the rate of change threshold, above which the parameter resonance motion may occur, and below this threshold value is not the frequency change caused by the parameter resonance; according to the condition ⁇ 1 and condition ⁇ 2 , the parameter is calculated.
  • the change rate threshold ⁇ PR is set to: a difference between a natural frequency of the target motion signal and a natural frequency of a motion signal that forms a multiplication relationship with the target motion signal, and a transition time And a ratio, wherein the transition time is a sum of a natural period of the target motion signal and a natural period of a motion signal that forms a multiplication relationship with the target motion signal.
  • the apparatus further includes: a data pre-processing module, configured to perform the instantaneous frequency history data before the time when the parameter resonance motion is calculated according to the condition ⁇ 1 and the condition ⁇ 2 Preprocessing to eliminate data points caused by numerical errors; the pre-processed instantaneous frequency history data is substituted as the instantaneous frequency f MA (t) into the condition ⁇ 1 and condition ⁇ 2 for calculation.
  • a data pre-processing module configured to perform the instantaneous frequency history data before the time when the parameter resonance motion is calculated according to the condition ⁇ 1 and the condition ⁇ 2 Preprocessing to eliminate data points caused by numerical errors; the pre-processed instantaneous frequency history data is substituted as the instantaneous frequency f MA (t) into the condition ⁇ 1 and condition ⁇ 2 for calculation.
  • the pre-processing is implemented based on a moving average algorithm.
  • the present invention provides a storage medium storing a computer program that, when executed by a processor, implements a resonant motion of a marine floating structure parameter as described above.
  • Early warning method When executed by a processor, implements a resonant motion of a marine floating structure parameter as described above.
  • the present invention provides an electronic device comprising: a processor, and a memory; wherein the memory is for storing a computer program; the processor is configured to load and execute the computer program to enable The electronic device performs an early warning method for a resonant motion of a marine floating structure parameter as described above.
  • the present invention provides an early warning system for parametric resonance motion of a marine floating structure, comprising: an angular motion detecting device disposed on the marine floating structure for collecting the ocean in real time. Motion signals on different degrees of freedom of the floating structure; an electronic device as described above, communicatively coupled to the angular motion detecting device.
  • the method, device and device for predicting the resonance motion of the marine floating structure of the present invention select a more efficient algorithm and less device cost to realize the advance warning of the parameter resonance motion than the patent KR100827396B1;
  • the IR-HHT algorithm is used to obtain the motion time-frequency information for the advance warning of the parametric resonance motion.
  • the present invention is also specially designed for the timeliness of the early warning, and can perform the advance warning of the parametric resonance motion when the amplitude of the initial motion of the parametric resonance is small, so that the parametric resonance can be efficiently avoided by consuming a small amount of energy. motion.
  • FIG. 1 is a schematic diagram showing a scene of a parametric resonance motion of a marine floating structure according to an embodiment of the invention.
  • Figure 2 is a graph showing the time history data of the pitch motion signal S1 and the roll motion signal S2 in the model experiment of the present invention.
  • FIG. 3 is a schematic diagram showing an early warning hardware device for parameter resonance motion of a marine floating structure according to an embodiment of the invention.
  • FIG. 4 is a schematic diagram showing an early warning method for parameter resonance motion of a marine floating structure according to an embodiment of the invention.
  • FIG. 5 shows a flow chart of an incremental real-time Hilbert-Huang (IR-HHT) algorithm in accordance with an embodiment of the present invention.
  • FIG. 6 is a diagram showing an instantaneous frequency curve f(t) and its moving average f MA (t) and a rate of change -10f' MA (t) in an embodiment of the present invention.
  • Fig. 7 is a graph showing the simulation results of the parameter advance warning of the parameters obtained in the model experiment of the present invention.
  • FIG. 8 is a schematic diagram of an early warning software device for parameter resonance motion of a marine floating structure according to an embodiment of the invention.
  • the present invention provides an advanced warning algorithm and apparatus for parametric resonance motion of marine floating structures (eg, ships, offshore platforms, and offshore floating fans, etc.), using more efficient algorithms and less device cost to implement parameters
  • the advance warning of the resonance motion is expected to be able to efficiently avoid the parametric resonance motion when the amplitude of the initial motion of the parametric resonance is small and consumes a small amount of energy.
  • the marine floating structure 2 performs a six-degree-of-freedom oscillation motion under the excitation of the wave 1, including: x turbulence, y sway, z sway, Roll, ⁇ pitch, shake.
  • the ocean floating structure When the parametric resonance motion occurs, the ocean floating structure performs wave frequency motion in some degrees of freedom, and performs low frequency resonance motion in some degrees of freedom.
  • frequency doubling relationships between two types of motions of different frequencies such as: The frequency-doubling relationship between the pitch and the heave motion and the roll motion when the parameter is panned, and the multiplication relationship between the heave and the pitch motion during the steep tilt of the Spar platform.
  • the ship parameter roll is a self-excited vibration caused by the nonlinear periodic variation of the rolling recovery force in the longitudinal wave, which is simplified to the Matthew equation of the following form:
  • ⁇ is the damping coefficient
  • ⁇ 0 and ⁇ represent the roll natural frequency and the wave encounter frequency
  • ⁇ is the roll recovery force amplitude
  • ⁇ cos ⁇ t is the periodic change roll recovery force.
  • Fig. 2 shows the time history curves of the pitch motion signal S1 (see 11) and the roll motion signal S2 (see 10) in the frequency multiplication relationship when the parameter resonance motion obtained in the model experiment occurs.
  • signal S2 completes a period of oscillatory motion
  • signal S1 completes two periods of oscillatory motion, indicating the formation of parametric resonance conditions.
  • the amplitude of the signal S2 increases rapidly, resulting in a large and intense movement, which poses a great threat to the safety of marine floating structures.
  • the early warning device for the parametric resonance movement of the marine floating structure mainly includes: a motion detecting device and an electronic device electrically connected to the motion detecting device, wherein the motion detecting device is preferably a six-axis gyroscope 301
  • the electronic device is a device including a processor (CPU/MCU/SOC), a memory (ROM/RAM), an input/output interface (bus interface/communication interface), and a system bus, and is preferably a micro-master computer 302.
  • the motion detection device and the electronic device can be installed in the equipment container box of the ship (Fig. 4, reference numeral 4), and with an early warning monitor installed in the ship's cab (Fig. 1 of Fig. 3) ) Communication connection.
  • the marine floating structure is oscillated under the excitation of waves, and the six-axis gyroscope 301 collects two related motion signals S1 and S2 in which parameter resonance may occur in real time.
  • the calendar is transferred to the mini-master computer 302.
  • the micro-master computer 302 integrates a pre-warning algorithm for parametric resonance motion.
  • the Incremental Real-time Hilbert-Huang Transform (IR-HHT) algorithm analyzes the signal time history x(t) to obtain the instantaneous frequency (Instantaneous Frequency, IF for short) containing two motion signals. Then, the algorithm analyzes the obtained instantaneous frequency and obtains the early warning result by identifying the frequency mutation caused by the parameter resonance. Finally, the early warning result is transmitted to the cab's early warning monitor through the wireless signal 7. When the warning signal indicates that the parameter resonance occurs, corresponding measures can be taken to avoid the parameter resonance motion.
  • IR-HHT Incremental Real-time Hilbert-Huang Transform
  • IMFs Intrinsic Mode Functions
  • EMD Empirical Mode Decomposition
  • the first condition guarantees that the IMF is narrowband and the second condition guarantees that the IMF has no zero offset.
  • Step 2 Decompose the i-th IMF, including:
  • step D Find all local maxima of h 0 (t) and local minima h k-1 (t), if there is no new extremum, skip to step D;
  • the signal x(t) is equal to the superposition of the n IMFs with an average trend:
  • the signal x(t) is decomposed into n IMFs of frequency from high to low and a trend function, and the IMF of the signals S1 and S2 is Hilbert transformed to obtain the instantaneous frequency IF.
  • Figure 6 is the instantaneous signal x(t) of the signals S1 and S2 in Figure 2.
  • Time frequency IF curve f(t) (see 12). It can be seen from the curve that the instantaneous frequency IF is abruptly caused by the frequency doubling relationship when the parametric resonance motion occurs, and the frequency of the IF is decreased from the frequency of the signal S1 to the frequency of the signal S2 (the frequency of the signal S1 predominates before the frequency mutation, and the signal after the frequency mutation) The frequency of S2 is dominant).
  • the present invention will predict the moment at which the parametric resonance occurs based on the mutation design advance warning algorithm of this instantaneous frequency IF.
  • the Moving Average method is introduced to preprocess the IF curve f(t) to eliminate the sharp point caused by the numerical error in the graph of Fig. 6.
  • the instantaneous frequency f MA (t) obtained by moving average (see 13) and its rate of change -10f' MA (t) are plotted as shown in Fig. 6. Therefore, based on the instantaneous frequency f MA (t) to design the advanced warning algorithm of the parametric resonance motion, the algorithm includes two conditions: the frequency variation condition ⁇ 1 and the rate of change condition ⁇ 2 .
  • the frequency variation condition ⁇ 1 is used to identify the frequency abrupt change when the parameter resonance occurs. According to the Gibbs phenomenon, the discontinuity in frequency is reflected in the instantaneous frequency as a hump (see 14), as shown in Figure 6.
  • the frequency change condition is designed based on this peak point in the advance warning algorithm ⁇ 1 :
  • the first line condition takes the maximum value of the instantaneous frequency as the possible Gibbs peak point, and t h is the time of the peak point; the second line is used to determine the instantaneous frequency in the interval [0, ⁇ 1 T S2 ] Whether it is in the falling phase, where ⁇ 1 is the parameter, preferably, it is set to 0.8 to 1; in the third row, the frequency decreasing amplitude ⁇ represents the average frequency f Average (t h ) in the frequency range [0, t h ]
  • the magnitude of the drop, the critical frequency drop amplitude ⁇ cr is preferably set to around 0.5, which is also the ratio of the frequency of the signal S2 to the frequency of the signal S1 when the parametric resonance motion occurs.
  • the formula establishes the frequency variation condition ⁇ 1 by determining the magnitude of the frequency drop after the Gibbs peak point.
  • the rate of change condition ⁇ 2 is introduced as another criterion. First, it is necessary to set a rate of change threshold ⁇ PR . If the threshold is exceeded, the parameter resonance motion may occur. Below the threshold, it is not the frequency change caused by the parameter resonance.
  • the change rate threshold ⁇ PR is set too small, the instantaneous change of the instantaneous frequency caused by the change of sea state will be erroneously predicted, and if it is too large, the parameter roll may not be predicted.
  • the parametric resonance motion advance warning algorithm and device of the present invention are installed in a model of a container ship to carry out the advance warning of the container ship's parameter roll, and the effect of the invention is verified by experiments, and the early warning result is shown in FIG. 7 .
  • Figure 7 shows the experimental results of four operating conditions.
  • the results of each working condition include the time history of the roll angle 15 and the pitch angle 16 collected by the six-axis gyroscope in the experiment and the instantaneous frequency obtained by the IR-HHT algorithm.
  • the pitch frequency f ⁇ (see 18) and the roll natural frequency f roll (see 19) are also included in FIG.
  • the roll angle 15 is continuously increased when the parameter roll occurs, and the instantaneous frequency 17 is abruptly changed from the pitch frequency 18 to the roll natural frequency 19, and the advance warning algorithm warns the time 20 at which the parameter roll occurs. At this point, the amplitude of the parameter roll is still small.
  • the algorithm and device for predicting the premature motion of the parametric resonance motion proposed by the present invention can perform prediction when the amplitude of the parametric resonance motion is small, so as to adopt corresponding evasive measures, and the safety of the marine floating structure can be effectively guaranteed.
  • the present invention also includes a storage medium including: a ROM, a RAM, a magnetic disk, or an optical disk, and the like, which can store a program code, wherein the computer program is stored, and the computer program is processed.
  • a storage medium including: a ROM, a RAM, a magnetic disk, or an optical disk, and the like, which can store a program code, wherein the computer program is stored, and the computer program is processed.
  • the computer program is implemented based on the following modules:
  • the signal acquisition module 801 acquires motion signals of different degrees of freedom of the marine floating structure collected in real time.
  • the signal processing module 802 first linearly superimposes the time history data of the different motion signals to obtain time history data of the combined signals. Then, generating instantaneous frequency history data of the instantaneous frequency of the combined signal according to the time history data of the combined signal, for example, analyzing the time history of the combined signal based on an incremental real-time Hilbert-Huang algorithm Obtaining an instantaneous frequency of the time-frequency information including the combined signal, comprising: screening from the combined signal (eg, based on an empirical mode decomposition algorithm) all modal functions that are locally symmetric to the mean zero; The modal function performs a Hilbert transform to find the instantaneous frequency. Subsequently, it is recognized from the instantaneous frequency history data that the frequency abrupt change is caused by a frequency doubling relationship between motion signals at least two degrees of freedom when the parametric resonance motion occurs.
  • the resonance warning module 803 calculates, according to the frequency mutation, a time at which the parameter resonance motion occurs for early warning, for example, preprocessing the curve of the instantaneous frequency (eg, based on a moving average algorithm) to eliminate the error data point;
  • ⁇ 1 is the parameter
  • the frequency drop amplitude ⁇ represents the magnitude of the frequency decrease relative to the average frequency f Average (t h ) in the interval [0, t h ]
  • ⁇ cr is The preset critical frequency decreases.
  • ⁇ PR is the rate of change threshold, above which the parameter resonance motion may occur, and below this threshold value is not the frequency change caused by the parameter resonance.
  • the rate-of-change threshold ⁇ PR is set to a ratio of a difference between a natural frequency of the target motion signal and a natural frequency of a motion signal that forms a frequency multiplication relationship with the target motion signal, and a transition time, where The transition time is the sum of the natural period of the target motion signal and the natural period of the motion signal that forms a multiplication relationship with the target motion signal.
  • the method, apparatus, storage medium and equipment for detecting the parametric resonance motion of the marine floating structure effectively overcome various disadvantages in the prior art and have high industrial utilization value.

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Abstract

一种海洋浮式结构物参数共振运动的预警方法、装置及设备。方法包括：获取实时采集的海洋浮式结构物的不同自由度上的运动信号；将不同运动信号的时历数据线性叠加以得到合信号的时历数据；根据合信号的时历数据生成合信号的瞬时频率随时间变化的瞬时频率时历数据；从瞬时频率时历数据中辨识出频率突变；其中，频率突变是在参数共振运动发生时由至少两个自由度上的运动信号间的倍频关系引起的；根据频率突变计算得到参数共振运动发生的时刻以供进行预警。本方法采用更高效的算法和更少的装置成本来实现参数共振运动的超前预警，能够在参数共振发生的初期运动幅值较小时，消耗很少的能量来高效地规避参数共振运动。

Description

海洋浮式结构物参数共振运动的预警方法、装置及设备 技术领域
本发明涉及船舶与海洋工程领域，特别是涉及用于检测海洋浮式结构物的参数共振运动的预警方法、装置、存储介质及设备。
背景技术
海洋浮式结构物如船舶、海洋平台和海上浮式风机等在波浪激励下除了会发生常规的波激运动外还会发生非线性的参数共振运动，如：集装箱船和豪华邮轮的参数横摇运动、SPAR平台和海上浮式风机的参数纵摇运动等。参数共振发生时，会伴随有浮式结构物的大幅剧烈运动甚至失稳倾覆，造成重大的人员和财产损失，如：集装箱船大幅参数横摇下的丢箱、SPAR平台和海上浮式风机在大幅参数纵摇运动下的系缆断裂等。因此，亟需采取措施来规避参数共振的发生。
目前，海洋浮式结构物上多安装有主动(主动减摇水舱、减摇鳍、动力定位系统等)和被动装置(被动减摇水舱、舭龙骨、垂荡板等)来进行波激运动的有效规避。然而，这些装置对于比常规波激运动更剧烈的参数共振运动规避效果有限。根据参数共振运动的特性，其在发生初期刚满足参数共振条件时，运动幅值较小。因此，如果能在参数共振发生的初期进行预警，采用装置改变达成共振的条件，就可以通过消耗很少的能量来高效地规避参数共振运动。可见，海洋浮式结构物的超前预警装置对于其安全性具有重要意义。
中国发明专利申请“一种主动抑制参数横摇的船舶航迹跟踪预测控制方法”(公开号：CN104881040A)提出在船舶发生参数横摇时，采用舵在尽可能小的牺牲船舶航迹跟踪性能的前提下来抑制参数横摇。在该发明中，舵在发生大幅参数共振运动时才进行减摇，需要消耗大量能量而且会影响船舶航迹跟踪性能。可见，进行参数共振运动的超前预警，在运动幅度小的时候进行抑制的重要性。韩国专利“Parametric roll preventing apparatus and method for vessel”(公告号：KR100827396B1)的发明人提出一种船舶参数横摇的预警方法与装置，并采用舵进行参数横摇抑制。其预警装置中需要采用的海浪监测设备(wave monitoring device)不易获得，应用具有一定局限性，这与本发明中仅采用方便获取的运动信号进行参数共振超前预警有明显区别。丹麦专利“Prediction of resonant oscillation”(公开号：WO2010118752A1)的发明人提出一种进行两个相关振荡信号间参数共振预报的算法及装置，其将两个相关振荡信号进行时域和频域上的变换处理，进而分别设计了频域中的频率辨 识和时域中的相位辨识两个预报机制，来进行参数共振的预报。然而，该算法及装置中仅涉及参数横摇的预警，未在预警的时效性上进行专门设计，这与本发明强调的超前预警存在明显不同，且本发明的算法中采用希尔伯特-黄方法直接得到时频结合信息，与此发明中分别得到时域与频域信息的做法有根本不同。
发明内容
鉴于以上所述现有技术的缺点，本发明的目的在于提供海洋浮式结构物参数共振运动的预警方法、装置、介质及设备，采用更高效的算法和更少的装置成本来实现参数共振运动的超前预警，以期能够在参数共振发生的初期运动幅值较小时，消耗很少的能量来高效地规避参数共振运动。
为实现上述目的及其他相关目的，本发明提供一种海洋浮式结构物参数共振运动的预警方法，包括：获取实时采集的所述海洋浮式结构物的不同自由度上的运动信号；将所述不同运动信号的时历数据线性叠加以得到合信号的时历数据；根据所述合信号的时历数据生成所述合信号的瞬时频率随时间变化的瞬时频率时历数据；从所述瞬时频率时历数据中辨识出频率突变；其中，所述频率突变是在参数共振运动发生时由至少两个自由度上的运动信号间的倍频关系引起的；根据所述频率突变计算得到参数共振运动发生的时刻以供进行预警。
于本发明一实施例中，根据所述合信号的时历数据生成所述合信号的瞬时频率随时间变化的瞬时频率时历数据是基于增量实时希尔伯特-黄算法实现的，包括：从所述合信号中筛选出所有局部对称于平均值零的模态函数；对筛选得到的模态函数进行希尔伯特变换以求得所述瞬时频率。
于本发明一实施例中，所述根据所述频率突变计算得到参数共振运动发生的时刻，包括：建立条件Γ1及条件Γ2：
Figure PCTCN2017099596-appb-000001
其中，fMA(t)为瞬时频率，th为吉布斯峰值点的时间，μ1为参数，TS2为目标运动信号的固有周期，频率下降幅度α表示频率相对于[0,th]区间内的平均频率fAverage(th)下降的幅度，αcr为预设的临界频率下降幅度；
Figure PCTCN2017099596-appb-000002
其中，ΘPR为变化率阈值，超过此阈值则表示有可能发生了参数共振运动，低于此阈值则表示不是参数共振所引起的频率变化；根据所述条件Γ1和条件Γ2，计算得到参数共振运动发生的时刻tp＝th+μ1TS2。
于本发明一实施例中，所述变化率阈值ΘPR设置为：所述目标运动信号的固有频率及与所述目标运动信号形成倍频关系的运动信号的固有频率的差值与过渡时间的比值，其中，所述过渡时间为所述目标运动信号的固有周期及与所述目标运动信号形成倍频关系的运动信号的固有周期之和。
于本发明一实施例中，在根据所述条件Γ1和条件Γ2计算得到参数共振运动发生的时刻之前，对所述瞬时频率时历数据进行预处理以消除其中由数值误差造成的数据点；将预处理后的瞬时频率时历数据作为瞬时频率fMA(t)，代入所述条件Γ1和条件Γ2进行计算。
于本发明一实施例中，所述预处理是基于移动平均算法实现的。
为实现上述目的及其他相关目的，本发明提供一种海洋浮式结构物参数共振运动的预警装置，包括：信号采集模块，用于获取实时采集的所述海洋浮式结构物的不同自由度上的运动信号；信号处理模块，用于将所述不同运动信号的时历数据线性叠加以得到合信号的时历数据；根据所述合信号的时历数据生成所述合信号的瞬时频率随时间变化的瞬时频率时历数据；从所述瞬时频率时历数据中辨识出频率突变；其中，所述频率突变是在参数共振运动发生时由至少两个自由度上的运动信号间的倍频关系引起的；共振预警模块，用于根据所述频率突变计算得到参数共振运动发生的时刻以供进行预警。
于本发明一实施例中，所述信号处理模块根据所述合信号的时历数据生成所述瞬时频率时历数据是基于增量实时希尔伯特-黄算法实现的，包括：从所述合信号中筛选出所有局部对称于平均值零的模态函数；对筛选得到的模态函数进行希尔伯特变换以求得所述瞬时频率。
于本发明一实施例中，所述共振预警模块根据所述频率突变计算得到参数共振运动发生的时刻是通过以下方式实现的：建立条件Γ1及条件Γ2：
Figure PCTCN2017099596-appb-000003
其中，fMA(t)为瞬时频率，th为吉布斯峰值点的时间，μ1为参数，TS2为目标运动信号的固有周期，频率下降幅度α表示频率相对于[0,th]区间内的平均频率fAverage(th)下降的幅度，αcr为预设的临界频率下降幅度；
Figure PCTCN2017099596-appb-000004
其中，ΘPR为变化率阈值，超过此阈值则表示有可能发生了参数共振运动，低于此阈值则表示不是参数共振所引起的频率变化；根据所述条件Γ1和条件Γ2，计算得到参数共振运动发生的时刻tp＝th+μ1TS2。
于本发明一实施例中，所述变化率阈值ΘPR设置为：所述目标运动信号的固有频率及与所述目标运动信号形成倍频关系的运动信号的固有频率的差值与过渡时间的比值，其中，所述过渡时间为所述目标运动信号的固有周期及与所述目标运动信号形成倍频关系的运动信号的固有周期之和。
于本发明一实施例中，所述装置还包括：数据预处理模块，用于在根据所述条件Γ1和条件Γ2计算得到参数共振运动发生的时刻之前，对所述瞬时频率时历数据进行预处理以消除其中由数值误差造成的数据点；将预处理后的瞬时频率时历数据作为瞬时频率fMA(t)，代入所述条件Γ1和条件Γ2进行计算。
于本发明一实施例中，所述预处理是基于移动平均算法实现的。
为实现上述目的及其他相关目的，本发明提供一种存储介质，其中存储有计算机程序，所述计算机程序被处理器加载执行时，实现如上任一所述的海洋浮式结构物参数共振运动的预警方法。
为实现上述目的及其他相关目的，本发明提供一种电子设备，包括：处理器、及存储器；其中，所述存储器用于存储计算机程序；所述处理器用于加载执行所述计算机程序，以使所述电子设备执行如上任一所述的海洋浮式结构物参数共振运动的预警方法。
为实现上述目的及其他相关目的，本发明提供一种海洋浮式结构物参数共振运动的预警系统，包括：角运动检测装置，设置于所述海洋浮式结构物，用于实时采集所述海洋浮式结构物的不同自由度上的运动信号；如上所述的电子设备，通信连接所述角运动检测装置。
如上所述，本发明的海洋浮式结构物参数共振运动的预警方法、装置及设备，相较于专利KR100827396B1，选用了更高效的算法和更少的装置成本来实现参数共振运动的超前预警；相较于专利WO2010118752A1，采用了IR-HHT算法来获取运动时频信息，以进行参数共振运动的超前预警。此外，本发明还在预警的时效性上进行专门设计，能够在参数共振发生的初期运动幅值较小时进行参数共振运动的超前预警，如此便可以通过消耗很少的能量来高效地规避参数共振运动。
附图说明
图1显示为本发明一实施例中的海洋浮式结构物参数共振运动的场景示意图。
图2显示为本发明模型实验中的纵摇运动信号S1和横摇运动信号S2的时历数据图。
图3显示为本发明一实施例中的海洋浮式结构物参数共振运动的预警硬件装置示意图。
图4显示为本发明一实施例中的海洋浮式结构物参数共振运动的预警方法示意图。
图5显示为本发明一实施例中的增量实时希尔伯特-黄(IR-HHT)算法流程图。
图6显示为本发明一实施例中的瞬时频率曲线f(t)及其移动平均fMA(t)和变化率-10f‘MA(t)的示意图。
图7显示为本发明模型实验中得到的参数横摇超前预警的仿真结果图。
图8显示为本发明一实施例中的海洋浮式结构物参数共振运动的预警软件装置示意图。
具体实施方式
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。
需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，遂图式中仅显示与本发明中有关的组件而非按照实际实施时的组件数目、形状及尺寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件布局型态也可能更为复杂。
本发明提供一种用于海洋浮式结构物(如：船舶、海洋平台和海上浮式风机等)参数共振运动的超前预警算法和装置，采用更高效的算法和更少的装置成本来实现参数共振运动的超前预警，以期能够在参数共振发生的初期运动幅值较小时，消耗很少的能量来高效地规避参数共振运动。
如图1所示，海洋浮式结构物2在波浪1的激励下进行六自由度振荡运动，包括：x纵荡、y横荡、z垂荡、
Figure PCTCN2017099596-appb-000005
横摇、θ纵摇、ψ艏摇。
参数共振运动发生时，海洋浮式结构物在某些自由度上做波频运动，而在某些自由度上做低频的共振运动，两类不同频率的运动间存在倍频关系，如：船舶发生参数横摇时纵摇和垂荡运动与横摇运动间的倍频关系、Spar平台大幅纵摇时垂荡与纵摇运动间的倍频关系等。
以下将以船舶的参数横摇为例，阐明参数共振运动及其倍频关系的机理。
船舶参数横摇是由于纵浪中横摇回复力的非线性周期性变化而引起的参数自激振动，简化为如下形式的马休方程：
Figure PCTCN2017099596-appb-000006
其中，
Figure PCTCN2017099596-appb-000007
为横摇角，ζ为阻尼系数，ω0和ω分别表示横摇固有频率和波浪遭遇频率，ε为横摇回复力幅值，εcosωt项为周期性变化的横摇回复力。当ζ和ε较小的时候，在ω＝2ω0即纵摇频率为横摇固有频率的两倍附近，存在一个不稳定边界，这便是参数共振运动发生时满足的倍频关系。
图2显示了模型实验中得到的参数共振运动发生时处于倍频关系中的纵摇运动信号S1(见11)和横摇运动信号S2(见10)的时间历经曲线。从图2中可以看出，在两条虚竖线之间，信号S2完成了一个周期的振荡运动，而信号S1完成了两个周期的振荡运动，这表明了参数共振条件的形成。与此同时，信号S2的幅值迅速增大，形成大幅剧烈运动，这对海洋浮式结构物的安全构成了极大威胁。
从图2中还可以看出，在信号S2幅值还较小的时候，S1和S2间的这种倍频关系也已形成。因此，本发明通过在共振初期运动幅值较小时辨识出这种倍频关系，从而进行参数共振的早期预警。
参阅图3，本发明提供的海洋浮式结构物参数共振运动的预警装置主要包括：运动检测装置、及与运动检测装置电连接的电子设备，其中，运动检测装置优选为：六轴陀螺仪301；电子设备是包括处理器(CPU/MCU/SOC)、存储器(ROM/RAM)、输入/输出接口(总线接口/通信接口)和系统总线的设备，优选为：微型主控电脑302。在实际的船舶应用场景中，运动检测装置和电子设备可以安装在船舶的设备容器箱(如图1的标号4)中，并与安装在船舶驾驶室的预警监视器(如图1的标号3)通信连接。
如图4所示，在本发明一实施过程中，海洋浮式结构物在波浪的激励下做振荡运动，六轴陀螺仪301实时采集可能发生参数共振的两个相关运动信号S1和S2的时历，并将其传输至微型主控电脑302中。微型主控电脑302集成有参数共振运动的超前预警算法，该算法首先将两个信号时历进行线性叠加得到合信号时历x(t)＝S1+S2；然后，基于增量实时希尔伯特-黄(Incremental Real-time Hilbert-Huang Transform，简称IR-HHT)算法对合信号时历x(t)进行分析，以得到含有两个运动信号时频信息的瞬时频率(Instantaneous Frequency，简称IF)；随后，该算法对得到的瞬时频率进行分析，通过辨识其中由参数共振引起的频率突变，从而得到预警结果；最后，将预警结果通过无线信号7传输至驾驶室的预警监视器中。当预警信号显示发生参数共振时，可采取相应措施进行参数共振运动的规避。
以下将详细说明本发明的海洋浮式结构物参数共振运动的预警方法的原理。
在IR-HHT算法中，假设任何复杂信号都可以分解为有限数目且具有一定物理意义的固有模态函数(Intrinsic Mode Function，IMF)。为了得到IMF，本算法中采用一种称为经验模态分解(Empirical Mode Decomposition，EMD)的筛选过程，借助不断重复的筛选程序来逐步找出从高到低不同频率的一系列IMF。为了IMF具有一定的物理意义，应满足两个条件：
1)曲线上局部极大值和极小值的数量之和须与零点的数量相等或是至多相差1；
2)在任意时刻，对局部极大值组成的包络线与局部极小值组成的包络线取均值要接近于零。
第一个条件保证了IMF是窄带的，第二条件保证了IMF没有零点偏移。这两个条件保证了IMF能够在局部对称于平均值零，使其类似于弦值函数(sinusoid-like)，但其周期与振幅不同于弦值函数，可能会发生变化。对这些类似弦值函数的IMF直接使用Hilbert变换，可以求得有意义的瞬时频率IF。
IR-HHT方法中的EMD过程如图5所示，具体的，对于一个原始信号x(t)：
步骤1.初始化r0(t)＝x(t),i＝1；
步骤2.分解第i个IMF，包括：
A.初始:h0(t)＝ri(t),k＝1；
B.找出h0(t)所有局部极大值以及局部极小值hk-1(t)，若无新的极值，则跳至步骤D；
C.采用Hermite插值，分别将局部极大值和极小值串连成上下包络线；
D.计算上下包络线之平均，得到均值包络线mk-1(t)；
E.hk(t)＝hk-1(t)-mk-1(t)；
F.检查hk(t)是否符合IMF的条件；如果符合，IMFi(t)＝hk(t)，继续步骤3；如果不符合，回到步骤B并令k＝k+1；
步骤3.定义ri(t)＝ri-1(t)-IMFi(t)；
步骤4.如果ri(t)中依然含有至少两个极大值，则继续步骤2并令i＝i+1；否则结束，ri(t)为x(t)的平均趋势分量。
若无法再分解出IMF，则视为完成了EMD筛选过程。信号x(t)等于这n个IMF与一个平均趋势的叠加：
Figure PCTCN2017099596-appb-000008
如此，信号x(t)便分解成频率由高到低的n个IMF和一个趋势函数，对包含信号S1和S2的IMF做Hilbert变换来得到瞬时频率IF。图6为图2中信号S1和S2的合信号x(t)的瞬 时频率IF曲线f(t)(见12)。从曲线中可以看出，参数共振运动发生时由倍频关系引起瞬时频率IF发生突变，IF由信号S1的频率下降到信号S2的频率(频率突变前信号S1的频率占主导，频率突变后信号S2的频率占主导)。本发明将基于这一瞬时频率IF的突变设计超前预警算法来预报参数共振发生的时刻。
首先，引入移动平均(Moving Average)方法对IF曲线f(t)进行预处理以消除图6曲线中数值误差造成的尖点。通过移动平均得到的瞬时频率fMA(t)(见13)及其变化率-10f'MA(t)的绘制如图6所示。由此，基于瞬时频率fMA(t)来设计参数共振运动的超前预警算法，算法中包括了两个条件：频率变化条件Γ1和变化率条件Γ2。
频率变化条件Γ1用于辨识参数共振发生时的频率突变。根据吉布斯现象(Gibbs phenomenon)，频率上的不连续会在瞬时频率中体现为峰值点(hump)(见14)，如图6中所示。超前预警算法中基于这一峰值点来设计了频率变化条件Γ1：
Figure PCTCN2017099596-appb-000009
其中，第一行条件将瞬时频率的极大值点作为可能的吉布斯峰值点，th为峰值点的时间；第二行则用于判定在区间[0,μ1TS2]瞬时频率是否处于下降阶段，其中μ1为参数，优选的，设为0.8～1；第三行中，频率下降幅度α表示频率相对于[0,th]区间内的平均频率fAverage(th)下降的幅度，临界频率下降幅度αcr优选的设为0.5附近，这也是参数共振运动发生时信号S2频率和信号S1频率的比值。由此，公式通过确定吉布斯峰值点后频率下降的幅度建立了频率变化条件Γ1。
由于瞬时频率的突变也可能发生在缓慢的海况变化中，因此引入变化率条件Γ2作为另一个判定标准。首先，需要设定一个变化率阈值ΘPR，超过此阈值则有可能发生参数共振运动，低于阈值则不是参数共振所引起的频率变化。
当参数共振发生时，合信号x(t)的瞬时频率会在一定的过渡时间ttran内从信号S1的频率fS1下降至信号S2的频率fS2。由此，可设定变化率阈值ΘPR：
Figure PCTCN2017099596-appb-000010
其中，信号S1和S2的周期满足TS1＝TS2/2；过渡时间ttran设为一个S1周期和一个S2周期之和。最终，设定变化率条件Γ2：
Figure PCTCN2017099596-appb-000011
其中，变化率阈值ΘPR若设置的太小则海况变化引起的瞬时频率缓慢变化会被错误的预报，太大则可能无法预报参数横摇。
至此，基于IR-HHT方法得到的瞬时频率应用频率变化条件Γ1和变化率条件Γ2组成的超前预警算法可以进行参数横摇的预报，参数横摇在tp时刻发生：tp＝th+μ1TS2。
将本发明的参数共振运动超前预警算法和装置安装于某集装箱船的模型中进行了集装箱船参数横摇的超前预警，通过实验对发明的效果进行了验证，预警结果如图7所示。
图7展示了4个工况的实验结果，每个工况结果中包括了实验中六轴陀螺仪采集的横摇角15和纵摇角16的时历以及IR-HHT算法得到的瞬时频率17。另外，图7中还包括了纵摇频率fθ(见18)和横摇固有频率froll(见19)。
从图7中可以看出，参数横摇发生时横摇角15不断增大，瞬时频率17由纵摇频率18突变至横摇固有频率19，超前预警算法预警到了参数横摇发生的时刻20。此时，参数横摇的幅值还较小。
通过实验结果可见，本发明提出的参数共振运动超前预警的算法和装置能够在参数共振运动幅值较小时进行预报，以便采取相应的规避措施，能够有效地保障海洋浮式结构物的安全性。
除此之外，本发明还包括一种存储介质，所述存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质，其中存储有计算机程序，该计算机程序在被处理器加载执行时，实现前述实施例中海洋浮式结构物参数共振运动的预警方法的全部或部分步骤。由于前述实施例中的技术特征可以应用于本实施例，因而不再重复赘述。
具体的，如图8所示，该计算机程序基于以下模块实现：
信号采集模块801获取实时采集的所述海洋浮式结构物的不同自由度上的运动信号。
信号处理模块802首先将所述不同运动信号的时历数据线性叠加以得到合信号的时历数据。然后，根据所述合信号的时历数据生成所述合信号的瞬时频率随时间变化的瞬时频率时历数据，例如：基于增量实时希尔伯特-黄算法分析所述合信号的时历以获取含有所述合信号的时频信息的瞬时频率，包括：从所述合信号中筛选(如基于经验模态分解算法)出所有局部对称于平均值零的模态函数；对筛选得到的模态函数进行希尔伯特变换以求得所述瞬时频率。随后，从所述瞬时频率时历数据中辨识出在参数共振运动发生时由至少两个自由度上的运动信号间的倍频关系引起频率突变。
共振预警模块803根据所述频率突变计算得到参数共振运动发生的时刻以供进行预警，例如：对所述瞬时频率的曲线进行预处理(如：基于移动平均算法)以消除误差数据点；根据所述预处理后的瞬时频率fMA(t)，建立条件Γ1及条件Γ2：
Figure PCTCN2017099596-appb-000012
其中，th为吉布斯峰值点的时间，μ1为参数，频率下降幅度α表示频率相对于[0,th]区间内的平均频率fAverage(th)下降的幅度，αcr为预设的临界频率下降幅度。
Figure PCTCN2017099596-appb-000013
其中，ΘPR为变化率阈值，超过此阈值则表示有可能发生了参数共振运动，低于此阈值则表示不是参数共振所引起的频率变化。可选的，所述变化率阈值ΘPR设置为：目标运动信号的固有频率及与所述目标运动信号形成倍频关系的运动信号的固有频率的差值与过渡时间的比值，其中，所述过渡时间为所述目标运动信号的固有周期及与所述目标运动信号形成倍频关系的运动信号的固有周期之和。
此时，计算得到参数共振运动发生的时刻tp＝th+μ1TS2。
至此，基于IR-HHT方法得到的瞬时频率应用频率变化条件Γ1和变化率条件Γ2组成的超前预警算法可以进行参数横摇的预报，参数横摇在tp时刻发生：tp＝th+μ1TS2。
综上所述，本发明的用于检测海洋浮式结构物的参数共振运动的预警方法、装置、存储介质及设备，有效克服了现有技术中的种种缺点而具高度产业利用价值。
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (15)

  1. 一种海洋浮式结构物参数共振运动的预警方法，其特征在于，包括：
    获取实时采集的所述海洋浮式结构物的不同自由度上的运动信号；
    将所述不同运动信号的时历数据线性叠加以得到合信号的时历数据；
    根据所述合信号的时历数据生成所述合信号的瞬时频率随时间变化的瞬时频率时历数据；
    从所述瞬时频率时历数据中辨识出频率突变；其中，所述频率突变是在参数共振运动发生时由至少两个自由度上的运动信号间的倍频关系引起的；
    根据所述频率突变计算得到参数共振运动发生的时刻以供进行预警。
  2. 根据权利要求1所述的方法，其特征在于，根据所述合信号的时历数据生成所述瞬时频率时历数据是基于增量实时希尔伯特-黄算法实现的。
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述频率突变计算得到参数共振运动发生的时刻，包括：
    建立条件Γ1及条件Γ2：
    Figure PCTCN2017099596-appb-100001
    其中，fMA(t)为瞬时频率，th为吉布斯峰值点的时间，μ1为参数，TS2为目标运动信号的固有周期，频率下降幅度α表示频率相对于[0,th]区间内的平均频率fAverage(th)下降的幅度，αcr为预设的临界频率下降幅度；
    Figure PCTCN2017099596-appb-100002
    其中，ΘPR为变化率阈值，超过此阈值则表示有可能发生了参数共振运动，低于此阈值则表示不是参数共振所引起的频率变化；
    根据所述条件Γ1和条件Γ2，计算得到参数共振运动发生的时刻tp＝th+μ1TS2。
  4. 根据权利要求3所述的方法，其特征在于，所述变化率阈值ΘPR设置为：所述目标运动信号的固有频率及与所述目标运动信号形成倍频关系的运动信号的固有频率的差值与过渡时间的比值，其中，所述过渡时间为所述目标运动信号的固有周期及与所述目标运动信号形成倍频关系的运动信号的固有周期之和。
  5. 根据权利要求3所述的方法，其特征在于，在根据所述条件Γ1和条件Γ2计算得到参数共 振运动发生的时刻之前，还包括：
    对所述瞬时频率时历数据进行预处理以消除其中由数值误差造成的数据点；
    将预处理后的瞬时频率时历数据作为瞬时频率fMA(t)，代入所述条件Γ1和条件Γ2进行计算。
  6. 根据权利要求5所述的方法，其特征在于，所述预处理是基于移动平均算法实现的。
  7. 一种海洋浮式结构物参数共振运动的预警装置，其特征在于，包括：
    信号采集模块，用于获取实时采集的所述海洋浮式结构物的不同自由度上的运动信号；
    信号处理模块，用于将所述不同运动信号的时历数据线性叠加以得到合信号的时历数据；根据所述合信号的时历数据生成所述合信号的瞬时频率随时间变化的瞬时频率时历数据；从所述瞬时频率时历数据中辨识出频率突变；其中，所述频率突变是在参数共振运动发生时由至少两个自由度上的运动信号间的倍频关系引起的；
    共振预警模块，用于根据所述频率突变计算得到参数共振运动发生的时刻以供进行预警。
  8. 根据权利要求7所述的装置，其特征在于，所述信号处理模块根据所述合信号的时历数据生成所述瞬时频率时历数据是基于增量实时希尔伯特-黄算法实现的。
  9. 根据权利要求7所述的装置，其特征在于，所述共振预警模块根据所述频率突变计算得到参数共振运动发生的时刻是通过以下方式实现的：
    建立条件Γ1及条件Γ2：
    Figure PCTCN2017099596-appb-100003
    其中，fMA(t)为瞬时频率，th为吉布斯峰值点的时间，μ1为参数，TS2为目标运动信号的固有周期，频率下降幅度α表示频率相对于[0,th]区间内的平均频率fAverage(th)下降的幅度，αcr为预设的临界频率下降幅度；
    Figure PCTCN2017099596-appb-100004
    其中，ΘPR为变化率阈值，超过此阈值则表示有可能发生了参数共振运动，低于此阈值则表示不是参数共振所引起的频率变化；
    根据所述条件Γ1和条件Γ2，计算得到参数共振运动发生的时刻tp＝th+μ1TS2。
  10. 根据权利要求9所述的装置，其特征在于，所述变化率阈值ΘPR设置为：所述目标运动信号的固有频率及与所述目标运动信号形成倍频关系的运动信号的固有频率的差值与过渡时间的比值，其中，所述过渡时间为所述目标运动信号的固有周期及与所述目标运动信号形成倍频关系的运动信号的固有周期之和。
  11. 根据权利要求9所述的装置，其特征在于，还包括：数据预处理模块，用于在所述共振预警模块计算所述参数共振运动发生的时刻之前，对所述瞬时频率时历数据进行预处理以消除其中由数值误差造成的数据点；将预处理后的瞬时频率时历数据作为瞬时频率fMA(t)，代入所述条件Γ1和条件Γ2进行计算。
  12. 根据权利要求11所述的装置，其特征在于，所述预处理是基于移动平均算法实现的。
  13. 一种存储介质，其中存储有计算机程序，其特征在于，所述计算机程序被处理器加载执行时，实现如权利要求1至6中任一所述的海洋浮式结构物参数共振运动的预警方法。
  14. 一种电子设备，其特征在于，包括：处理器、及存储器；其中，
    所述存储器用于存储计算机程序；
    所述处理器用于加载执行所述计算机程序，以使所述电子设备执行如权利要求1至6中任一所述的海洋浮式结构物参数共振运动的预警方法。
  15. 一种海洋浮式结构物参数共振运动的预警系统，其特征在于，包括：
    角运动检测装置，设置于所述海洋浮式结构物，用于实时采集所述海洋浮式结构物的不同自由度上的运动信号；
    如权利要求14所述的电子设备，通信连接所述角运动检测装置。
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