共查询到20条相似文献，搜索用时 140 毫秒
1.
随着对水下机器人研究的逐步深入，其运动能力已由早期单纯的平动逐步强化为有多个自由度的空间运动，对其进行动力学研究是进行其它方面能力研究的基础。为研究多自由度水下机器人的运动，对某型八推进器水下机器人进行了动力学方程建模，得出了其在6个自由度上的运动方程，在此基础上，对其进行了运动仿真及性能分析，得到了该型水下机器人在6个自由度上的运动性能。通过仿真计算的结果，可以直观地了解其运动能力。 相似文献
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深海拖曳系统运动响应的理论研究 总被引：4，自引：0，他引：4
本文用二维动力学模型模拟了6000m深拖系统的静态和动态响应,建立了一种新的拖体边界条件,并对有航速情况下的收、放缆运动进行了计算和比较,讨论了影响拖体运动响应的几个参数.本文的计算方法为拖体运动的实时控制提供了理论依据. 相似文献
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多锚链系泊浮筒非线性漂移运动的时域模拟 总被引：3，自引：0，他引：3
本文对多锚链系泊浮筒漂移运动的非线性效应进行了讨论。在波浪力和锚链系泊力都是非线性的条件下,对浮筒的运动作时域模拟,并把计算单个系泊锚链流体动力作用的Koterayama W.方法推广到多系泊锚链的情形。计算了规则波和波群中系泊浮筒漂移运动的时间历程,讨论了其运动与波高、频差的关系。可以指出,系泊浮筒系统总漂移运动受锚链流体动力的影响很大;在波群中,其幅值主要受波高支配,与频差的关系较小。 相似文献
4.
浅水域生存工况下系泊浮筒系统三维运动 总被引：1，自引：0，他引：1
本文提出一个浅水域生存工况下，多锚链系泊浮筒系统三维运动的工程计算模型，对链系采用射的法计算，使其与浮筒运动计算相匹配。对不同的风波流方向及链刚度，计算了浮筒的运动及链力，结果显示本文的模型是合理的。 相似文献
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为了探究钻井支持平台及生产平台组成的复杂多浮体耦合系统在近距离靠泊状态下的相对运动情况,基于多浮体三维势流理论及时域耦合分析方法,计算了半潜式钻井支持平台和张力腿(TLP)生产平台耦合系统在三种不同环境方向,即迎浪、斜浪、横浪下两平台的相对运动和平台间连接栈桥的运动响应,为平台运动分析和栈桥设计提供指导。并将计算结果与水池模型试验结果进行对比,验证了数值方法的可靠性。为进一步了解多浮体间耦合水动力的影响,计算了该近距离靠泊系统在不考虑浮体间水动力相互干扰下的运动响应。研究表明除在横浪作用外,其他环境条件下的多浮体水动力干扰作用明显,对浮体运动响应的影响不可忽略,且有效波高在小范围内变化时,平台间的相对运动幅值基本与其呈线性关系。 相似文献
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各类抛弃式探头下沉运动的数值计算研究都需要对探头表面和整个计算域进行网格划分的前处理过程,选择不同的网格划分方法和划分精度,会影响数值计算速度和计算精度,最终生成的网格质量决定了计算结果的收敛性和准确性。针对抛弃式探头的复杂结构,对比了两种网格划分方法、三种网格划分精度,完成探头计算区域的网格划分,采用k-ε湍流模型,进行抛弃式探头下沉运动的数值计算,并将计算结果与水箱和水库实验结果进行对比,验证了混合网格划分方法和普通精度网格对抛弃式探头下沉运动数值计算的适用性,研究结果对类似较为复杂结构的水下运动体的数值计算前处理过程具有一定的参考和借鉴意义。 相似文献
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基于多体动力分析方法进行FPSO和水下软钢臂系泊系统的运动特性研究。相较于非线性弹簧模拟软钢臂系泊系统或者其他近似模拟方法,多体分析方法可以充分考虑系泊系统具体结构形式及其动力项对FPSO运动性能的影响,更好的预报系统运动响应和系泊力。本文将FPSO和水下钢臂结构模拟成2个具有6自由度的独立结构,两者用系泊链组进行连接。基于三维势流理论应用汇源分布法,首先在频域内进行FPSO的水动力参数分析,进而在时域内对系统进行耦合动力分析。本文重点讨论系泊系统黏性力和二阶波浪力对系统响应的影响,计算结果发现系泊系统黏性力对系泊力有一定影响,而在浅水条件下二阶波浪力的计算对准确预报系统运动及系泊力非常重要。 相似文献
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非接触式六自由度运动测量与分析方法 总被引：8，自引：2，他引：6
本文提供了一种非接触式六自由度运动测量与分析方法。首先应用位置测量仪（ＰＳＤ）对安置在模型上的红外线发光源（ＬＥＤ）进行测量,然后用所编制的软件计算出模型的六个自由度运动情况。该方法避免了接触式测量仪对模型作用一定的力而产生的误差,同时具有较高的位置解析度与频率响应能力,测量结果精度较高。该方法可同时测量空间三个点的运动坐标从而可用计算机求得模型在空间的六个自由度运动情况。测量与分析结果令人满意。 相似文献
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一种模拟三维海流运动的差分方法 总被引：1，自引：0，他引：1
提出了一种模拟三维海流运动的隐式差分方法,并给出其计算步骤。通过对该差分方法的稳定性分析可以发现,它的时间步长取值有较大的灵活性。该方法被用于崖门海域的海流模拟。实例计算表明,该差分方法计算过程稳定,计算结果合理,能较好地反映出三维海流运动的特征。 相似文献
11.
The paper provides a detailed analysis for the second-order diffraction of monochromatic waves. For the second-order potential on the free surface, the paper proposed a forward prediction method for computing the integration on the free surface. By this method we only need to run the infinity integration on the free surface directly for a few points; a one-step quadrature can then be applied successively outward from the body for potentials at other points. For wave diffraction from a body of revolution with a vertical axis, the paper derives a new integral equation, which can cancel the leading singularity in the derivative of ring Green's functions automatically. To obtain accurate results, different approaches are also used to deal with singularities in the ring Green's functions in the integration on both the body surface and free surface. The method has been implemented for bodies of revolution with vertical axes, but the theory is also available for arbitrary bodies.A numerical examination is made to validate the numerical code by comparing the second-order forces and moments on uniform and truncated cylinders and second-order diffraction potentials on the free surface with some published results. The comparison shows that the present results are in good agreement with those published. The method is also used to compute the second-order wave elevation around uniform and truncated cylinders. 相似文献
12.
Convergence criteria are provided for truncating the evanescent eigenmode series in the Green's function for vertical, axisymmetric bodies of revolution. To numerically compute the strength of the source distribution for both the exciting and restoring forces, separate criteria are required for the off-diagonal and for the diagonal elements in the matrix of coefficients for the source strengths. The Black-Fenton algorithms for wave-induced exciting forces on vertical axisymmetric bodies of revolution are extended to include the wave-induced restoring forces. The Gauss-Seidel matrix version method recommended by Fenton is compared with the Gauss elimination method and is found to be non-converging for near deep water wave conditions. Comparison between theory and measured data for the dynamic response of a discus buoy demonstrates the convergence criteria over a range of dimensionless frequencies in relatively deep water wave conditions. 相似文献
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The dynamics of multiple floating structures have been studied using the finite element method. The emphasis is on the hydrodynamic behaviour of multiple bodies under a multi-directional wave field. A two-dimensional numerical model has been adopted to evaluate hydrodynamic coefficients and forces in an oblique wave field. The responses in sway, heave and roll modes are reported. The linear filter technique is then used to extrapolate the responses under directional waves. The effect of mean wave direction and directional homogeneity on the hydrodynamic behaviour of the structure is studied. Based on the present study, it is found that the two-dimensional model is applicable to investigate the wave-structure interaction problems of the type herein considered. 相似文献
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Numerical and experimental study on hydrodynamic interaction of side-by-side moored multiple vessels 总被引：2，自引：0，他引：2
This paper aims to investigate the basic interaction characteristics of side-by-side moored vessels both numerically and experimentally. A higher-order boundary element method (HOBEM) combined with generalized mode approach is applied to analysis of motion and drift force of side-by-side moored multiple vessels (LNG FPSO, LNGC and shuttle tankers). Model tests were carried out for the same floating bodies investigated in the numerical study in regular and irregular waves. Global and local motion responses and drift forces of three vessels are compared with those of calculations. Discussions is highlighted on applicability of numerical method to prediction of sophisticated multi-body interaction problem of which motion behavior is very important to analysis of mooring dynamics of deep sea floating bodies. 相似文献
16.
The size, complexity and critical operations of many offshore structures, including the mobile offshore bases (MOBs) of current interest, require careful determination of wave forces on the neighboring structures, including their interactions. This paper describes an analytical/numerical approach that determines the wave forces on multiple structures in the vicinity of one another. The method involves the consideration of multiple vessel interaction and scattering in waves. The analysis is an extension of the semi-analytical multiple vertical cylinder analysis published by the author. The analysis is similar to the one proposed by Kagemoto and Yue for axisymmetric bodies.The direct method of linear diffraction, while quite accurate and efficient in solving the hydrodynamic problem, demands a large amount of memory and requires considerable execution time. The present analysis is very efficient in these respects. It is accomplished by marrying the direct method with a semi-closed analytical method of multiple scattering developed for an array composed of vertical cylindrical structures. It is recognized that this analytical method has a limitation owing to the geometry of many offshore structures including MOBs. Therefore, the analysis is extended to an arbitrary geometry. In this method, the direct matrix method of diffraction problem is applied to an isolated module and then extended to structures with the multiple scattering technique to account for the interaction of multiple structures.Comparisons are made of the results from the analytical and conventional numerical diffraction theory with those of the semi-analytical tool using the above-mentioned analysis. 相似文献
17.
Starting from potential theory, this paper presents a new procedure for computing the hydrodynamic forces and six-degrees-of-freedom motion for a semi-submersible platform at an arbitrary heading in waves by using strip theory and linearized viscous damping hypothesis, taking the effects of the free surface and the interaction between main hulls into account. The differential equations of motion for the floating platform are formulated in a new way and the associated computer programs are developed. Comparisons between the theoretical computing results and the full-scale and model-scale experiments show that the present method gives more accurate results than those by previous methods. 相似文献
18.
Hydrodynamic Interactions of Three Barges in Close Proximity in A Floatover Installation 总被引：1，自引：1，他引：0
The hydrodynamics of side-by-side barges are much more complex than those of a single barge in waves because of wave shielding, viscous effects and water resonance in the gap. In the present study, hydrodynamic coefficients in the frequency domain were calculated for both the system of multiple bodies and the isolated body using both low-order and higher-order boundary-element methods with different element numbers. In these calculations, the damping-lid method was used to modify the free-surface boundary conditions in the gap and to make the hydrodynamic results more reasonable. Then far-field, mid-field and near-field methods were used to calculate wave-drift forces for both the multi-body system and the isolated body. The results show that the higher-order method has faster convergence speed than the low-order method for the multi-body case. Comparison of different methods of computing drift force showed that mid-field and far-field methods have better convergence than the near-field method. In addition, corresponding model tests were performed in the Deepwater Offshore Basin at Shanghai Jiao Tong University. Comparison between numerical and experimental results showed good agreement. 相似文献
19.
Åge Kyllingstad 《Applied Ocean Research》1984,6(3):132-139
This paper concerns mathematical modelling of the hydrodynamic interaction forces between small vertically axisymmetric wave-power devices. The model takes into account small-body approximations for the first order scattered waves but neglects multiple scattering. Further, the local wave fields are neglected, making the model inapplicable for very closely spaced bodies.The model, which is called the low-scattering approximation, comprises analytical formulae for the forces in any of the translation modes surge, sway and heave. It requires, however, that the following isolated-body parameters are known or externally supplied: the added mass and the force coefficients for both heave and surge motion.Comparison with accurate numerical results of a two-buoy system indicates that the present approach is fairly good even when the buoy diameter is as large as 1/6 of the wavelength and the buoy spacing is as small as 5 buoy radii. 相似文献
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随着超大型海洋结构物的设计和研究日益受到重视,研究多物体之间的流体动力干扰特性显得十分必要。用波动源在截面周线上分布的方法,就垂直桩柱间三维流体动力干扰对波浪力的影响进行了系统的研究,不仅可得到单行柱列的流体动力干扰力学机理的新特性,而且对多行桩柱阵列的研究也取得了若干新的发现：多行柱柱阵列的遮蔽作用强于单行的;无论是单行还是多行柱列,其流体动力干扰特性存在一个十分敏感的来波频域,在此区域内,力的幅值会大大超过其他频域的受力,而且桩柱阵列与交错阵列的力学特性也有所不同。这对超大型海洋结构物的设计有着重要的指导意义。 相似文献