摘要
为研究S型铺管船铺管工况下的动力定位系统性能,进行了船体-托管架-管道的耦合作用下的动力定位模拟。采用广义弹性面接触法模拟托管架上托辊,莫里森杆构建托管架模型,集中质量法计算管道受力,并应用PID和Kalman滤波相结合的控制系统和序列二次规划法进行分配的推力系统,进行了全耦合S型铺管动力定位时域分析;研究了船体波频运动对于管道-托管架耦合作用力和动力定位系统的影响;比较分析了铺管工况和非铺管工况下的定位精度影响;同时应用API规范对管道应力进行校核,验证了该耦合模拟的正确性。结果表明,垂荡和艏摇对于管道-托管架-船体之间的耦合作用力对动力定位系统影响很大,在动力定位系统设计时,需要着重考虑。减小纵摇和迎浪铺管是使铺管作业和动力定位系统安全有效的重要方法。
In order to study the performance of dynamic positioning system during S-lay operations,the system is simulated with the hull-stinger-pipe coupling effect. The roller of stinger is simulated based on the generalized elastic contact theory. The stinger is composed of Morrison members. The force on pipe is calculated by lumped mass method. The time domain of fully coupled barge model is analyzed combining with PID controller,Kalman filter and allocation of thrust using Sequential Quadratic Programming method. The effect of hull wave frequency motion on pipe-stinger coupling force and dynamic positioning system is also analyzed. And how S-lay operations affect the dynamic positioning accuracy is studied. The simulation results are proved to be available by checking pipe stress with API criterion. The effect of heave and yaw motion cannot be ignored on hull-stinger-pipe coupling force and the dynamic positioning system. It is important to decrease the barge＇s pitch motion and lay pipes in head sea in order to improve the safety of the S-lay installation and dynamic positioning.
出处
《海洋工程》
CSCD
北大核心
2015年第4期1-10,共10页
The Ocean Engineering
基金
工信部海工专项3000米水深大型起重铺管船自主研发
深海工程科学与技术创新引智基地计划基金资助项目(B07019)
关键词
S型铺管
动力定位系统
耦合运动
时域模拟
推力分配
S-lay operation
dynamic positioning
coupling motion
time domain
allocation of thrust
