摘要
软刚臂单点系泊系统(SYMS)是浮式生产储卸油装置(FPSO)的主要系泊方式之一。作为一个典型的多刚体系统,SYMS通过多个铰结构联合作用释放FPSO的旋转自由度,实现了FPSO的动态定位。本文建立了SYMS的多体动力学模型,针对微分-代数方程组求解过程中的积分困难问题,基于祖冲之类方法的思想构建了保辛数值积分方法,所提出的求解格式具有简单且自动满足哈密顿体系的保辛特性,对非线性系统具有较高的求解精度;选取了2组不同海况下的FPSO六自由度实测数据,计算了SYMS的动力响应及其系泊回复力。计算结果表明,相较于传统静力学设计方法,本文所开展的保辛动力学计算可获得动力特性明显的结构受力状态。对于系泊腿、YOKE等结构位移和受力行为的整体力学分析,可更加全面地评价SYMS的整体工作行为。
The soft yoke mooring system(SYMS)is one of the typical single-point mooring systems in FPSO(Floating,Production,Storage,and Offloading).As a typical rigid multibody dynamic system,SYMS releases the rotational freedom of FPSO through the joint action of multi-hinge structure,realizing dynamic positioning of FPSO.In this paper,a multibody dynamic model of SYMS was established,and a symplectic algorithm,based on the Zu-type numerical integral method,is presented.The model was designed to solve the difficulty faced when solving differential-algebraic equations.The solution formulas were simple and satisfied the symplectic characteristics of the Hamilton system automatically.It also provided high accuracy for nonlinear systems.Two groups of prototypical monitoring data of six degrees of freedom(DOF)of FPSO under different sea conditions were selected to calculate the dynamic responses and corresponding mooring restoring force of SYMS.Simulated results indicated that,compared with traditional statics design methods,the present multibody symplectic dynamics calculation carried out in this paper could derive the structural stress state with a clear dynamic characteristic.The overall mechanical analysis of the structural displacement and stress behavior of mooring legs,YOKE,etc.,can comprehensively evaluate the global mechanical behavior of SYMS.
作者
金锋
武文华
吕柏呈
王延林
岳前进
JIN Feng;WU Wenhua;LYU Baicheng;WANG Yanlin;YUE Qianjin(AVIC Aerodynaiviics Research Institute,Harbin 150001,China;Department of Engineering Mechanics,State key Laboratory of Analysis of Industrial Equipment,Dalian University of Technology,Dalian 116024,China;School of Ocean Science and Technology,State key Laboratory of Analysis of Industrial Equipment,Dalian University of Technology,Panjin 124000,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2019年第10期1776-1783,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(11572072)
国家科技重大专项(2016ZX05028-02-05)
关键词
软刚臂单点系泊系统
多铰结构
多刚体动力学
祖冲之保辛算法
系泊回复力
动力响应
数值模拟
浮式生产储卸油装置
Soft YOKE mooring system
multi-hinge structure
multibody dynamic mechanics
Zu-type symplectic algorithm
mooring restoring force
dynamic response
numerical simulation
floating production storage and offloading
