深水铺管起重船作业实时动力学仿真研究
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摘要
深水铺管起重船作业视景仿真系统是以深水铺管起重船为基础，基于理论模型和实测数据而建，可以起到人员操作培训、工程过程演练等作用。为了创建逼真的铺管起重作业虚拟训练环境，根据深水铺管起重船作业系统的运行特点，研究虚拟现实技术、通信网络技术、半实物操纵以及仿真软件体系结构，采用高层体系结构的联邦仿真思想，设计了分布交互式深水铺管起重船作业实时仿真系统。
对于起重作业仿真系统，根据实际海上起重作业过程特点，综合考虑海情、海况、动力定位、实时操纵以及压载调整等多种因素对起重作业的影响，构建了多通道数据交流数学模型。在构建吊物系统的数学模型时，根据全回转起重船吊物系统的运行特点，将吊物运动分解成相互独立的吊物摆动和吊索波动；针对吊索波动，采用弦振动理论构建了混合初始边界条件下确保存在唯一性的柔索波动数学模型，并利用无条件稳定的隐式差分法解决了波动方程数值解的稳定性问题；针对吊物摆动，采用动力学原理及阻尼理论，构建了吊物摆动数学模型，并采用布里斯近似积分法求解了其非线性耦合2阶微分方程，有效地解决了实时计算时的累积误差和计算速度滞后现象；利用叠加原理获得了起重作业视景仿真所需相关数据。
对于铺管作业仿真系统，为了预测S型海底管道铺管船在铺管作业过程中的管道铺设形态、张紧器张力、管道轴向应力等参数，融合海底管线力学及欧拉-伯努利梁理论，建立了常值海流作用下的管线形态静态数学模型，推导了张紧器的张力预测公式，开发了S型铺管形态的静态计算软件；为了计算悬空段倾斜管道在波浪中的自由振荡运动，利用独立流场模型的Morison方程修正公式及伯努利-欧拉线性动力梁-缆方程的一般形式，推导了海浪作用下的管线-缆索振荡数学模型，并采用有限差分法实时解算了其管线-缆索振荡4阶偏微分方程组；为了提高铺管作业仿真系统实时运算的稳定性、收敛性及准确性，采用静态数学模型计算了海流载荷引起的管线运动的静态分量，采用动态数学模型计算了船体运动及波浪载荷引起的管线运动的动态分量，利用叠加原理获得了铺管作业实时仿真所需相关数据。
仿真结果表明，工程技术人员通过仿真演练可以对起重铺管作业过程的关键参数进行推敲，对实际操作过程进行预演，起到辅助制定工艺过程、降低海上作业风险以及提高海上工程作业的可靠性的作用。
According to the theory model and the measured data, the scene simulation of real-timeof data system was built up based on deepwater piplay crane vessel. It could play an importantrole in training personnel operation abilities and doing engineering process practice. In orderto find the lifelike scene effect about pipelaying and lifting operation of the deepwater pipelaycrane vessel, and in view of the deepwater pipelay crane vessl simulation system of theoperation characteristics, the collaborative simulation software system structure was studiedusing an HLA federal simulation thought. In addion, the hardware-in-the-loop simulationsystem of deepwater pipelay crane vessl for the distribution interactive was designed.
According to actual offshore lifting operation process, a variety of factors, such as seaconditions, dynamic positioning, real-time manipulation, ballast to adjust and so on, wereconsidered in the lifting operation simulation system. A real time dynamic model based onmulti-channel discrete data input has been build up. To begin with, considering the motioncharacteristics of flexible cable pendulum, the sling movement of crane vessel wasdecomposed into rope swing component and rope fluctuations component which areindependent mutually. Using string vibration theory, we constructed a wire fluctuationsmathematics model which can ensure existence uniqueness under mixed initial boundaryconditions. Besides, using unconditional stable hidden type difference method, it resolved thefluctuations equation numerical solutions stability. In here, using physics concepts and thedamping theory，it built the mathematical models of hanging objects’swing, and for solvingthe nonlinear coupled2-order differential equation, Breece Approximate integral method wasadopted in order to reduce the accumulated error and improving the operation speed. Finally,we got the lifting operation visual simulation data required by the principle of superposition.
For the pipelaying operation simulation system, in order to predict the pipelaying workparameters such as pipeline shape, tension of tensioner, considering Euler-Bernoulli Beammechanics theory and deepwater pipelines deflection theory of computation, we built amathematical model for pipeline shape under constant ocean currents and derived tensionertension prediction formula. The deepwater S-lay pipelaying shape calculation software wasdeveloped on the basis of microsoft excel. On the basis of the actual deep pipe-laying operation characteristics, the use of independent flow field model correction formula Morisonequation and the Bernoulli-euler linear dynamic beam-the general form of the cable equationof the waves was deduced under the mathematical model of the pipeline-cable oscillationunder the action of waves and uses the finite difference method real-time solution wellpipeline-cable oscillation4order partial differential equations. In order to improve stabilityconvergence and accuracy of the pipelaying operation simulation system real time operation,the static mathematical model was applied to calculate the current load caused by pipelinemovement of the static component. Furthermore, the pipeline dynamic component wascalculated by the dynamic mathematical model. Finally, we got the pipe-laying operation forreal-time simulation data by using the principle of superposition.
The simulation experiments indicate that the engineers can deliberate carefully theparameter essential to lifting and pipelaying work process through the simulation． Thepreview of the actual operation process can play an essential role in assistence of formulatingtechnological process, reducing marine lifting and pipelaying work risk, enhancing the marineengineering work reliability．
对于起重作业仿真系统，根据实际海上起重作业过程特点，综合考虑海情、海况、动力定位、实时操纵以及压载调整等多种因素对起重作业的影响，构建了多通道数据交流数学模型。在构建吊物系统的数学模型时，根据全回转起重船吊物系统的运行特点，将吊物运动分解成相互独立的吊物摆动和吊索波动；针对吊索波动，采用弦振动理论构建了混合初始边界条件下确保存在唯一性的柔索波动数学模型，并利用无条件稳定的隐式差分法解决了波动方程数值解的稳定性问题；针对吊物摆动，采用动力学原理及阻尼理论，构建了吊物摆动数学模型，并采用布里斯近似积分法求解了其非线性耦合2阶微分方程，有效地解决了实时计算时的累积误差和计算速度滞后现象；利用叠加原理获得了起重作业视景仿真所需相关数据。
对于铺管作业仿真系统，为了预测S型海底管道铺管船在铺管作业过程中的管道铺设形态、张紧器张力、管道轴向应力等参数，融合海底管线力学及欧拉-伯努利梁理论，建立了常值海流作用下的管线形态静态数学模型，推导了张紧器的张力预测公式，开发了S型铺管形态的静态计算软件；为了计算悬空段倾斜管道在波浪中的自由振荡运动，利用独立流场模型的Morison方程修正公式及伯努利-欧拉线性动力梁-缆方程的一般形式，推导了海浪作用下的管线-缆索振荡数学模型，并采用有限差分法实时解算了其管线-缆索振荡4阶偏微分方程组；为了提高铺管作业仿真系统实时运算的稳定性、收敛性及准确性，采用静态数学模型计算了海流载荷引起的管线运动的静态分量，采用动态数学模型计算了船体运动及波浪载荷引起的管线运动的动态分量，利用叠加原理获得了铺管作业实时仿真所需相关数据。
仿真结果表明，工程技术人员通过仿真演练可以对起重铺管作业过程的关键参数进行推敲，对实际操作过程进行预演，起到辅助制定工艺过程、降低海上作业风险以及提高海上工程作业的可靠性的作用。
According to the theory model and the measured data, the scene simulation of real-timeof data system was built up based on deepwater piplay crane vessel. It could play an importantrole in training personnel operation abilities and doing engineering process practice. In orderto find the lifelike scene effect about pipelaying and lifting operation of the deepwater pipelaycrane vessel, and in view of the deepwater pipelay crane vessl simulation system of theoperation characteristics, the collaborative simulation software system structure was studiedusing an HLA federal simulation thought. In addion, the hardware-in-the-loop simulationsystem of deepwater pipelay crane vessl for the distribution interactive was designed.
According to actual offshore lifting operation process, a variety of factors, such as seaconditions, dynamic positioning, real-time manipulation, ballast to adjust and so on, wereconsidered in the lifting operation simulation system. A real time dynamic model based onmulti-channel discrete data input has been build up. To begin with, considering the motioncharacteristics of flexible cable pendulum, the sling movement of crane vessel wasdecomposed into rope swing component and rope fluctuations component which areindependent mutually. Using string vibration theory, we constructed a wire fluctuationsmathematics model which can ensure existence uniqueness under mixed initial boundaryconditions. Besides, using unconditional stable hidden type difference method, it resolved thefluctuations equation numerical solutions stability. In here, using physics concepts and thedamping theory，it built the mathematical models of hanging objects’swing, and for solvingthe nonlinear coupled2-order differential equation, Breece Approximate integral method wasadopted in order to reduce the accumulated error and improving the operation speed. Finally,we got the lifting operation visual simulation data required by the principle of superposition.
For the pipelaying operation simulation system, in order to predict the pipelaying workparameters such as pipeline shape, tension of tensioner, considering Euler-Bernoulli Beammechanics theory and deepwater pipelines deflection theory of computation, we built amathematical model for pipeline shape under constant ocean currents and derived tensionertension prediction formula. The deepwater S-lay pipelaying shape calculation software wasdeveloped on the basis of microsoft excel. On the basis of the actual deep pipe-laying operation characteristics, the use of independent flow field model correction formula Morisonequation and the Bernoulli-euler linear dynamic beam-the general form of the cable equationof the waves was deduced under the mathematical model of the pipeline-cable oscillationunder the action of waves and uses the finite difference method real-time solution wellpipeline-cable oscillation4order partial differential equations. In order to improve stabilityconvergence and accuracy of the pipelaying operation simulation system real time operation,the static mathematical model was applied to calculate the current load caused by pipelinemovement of the static component. Furthermore, the pipeline dynamic component wascalculated by the dynamic mathematical model. Finally, we got the pipe-laying operation forreal-time simulation data by using the principle of superposition.
The simulation experiments indicate that the engineers can deliberate carefully theparameter essential to lifting and pipelaying work process through the simulation． Thepreview of the actual operation process can play an essential role in assistence of formulatingtechnological process, reducing marine lifting and pipelaying work risk, enhancing the marineengineering work reliability．
引文
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