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1.
This paper investigates the performance of a small axisymmetric buoy under wave-by-wave near optimal control in surge, heave, and pitch modes in long-crested irregular waves. Wave prediction is obtained using a deterministic propagation model. The paper describes the overall formulation leading up to the derivation of the feedforward control forces in surge and heave, and the control moment in pitch. The radiation coupling between surge and pitch modes is accounted for in the model. Actuation is relative to deeply submerged reaction masses. Heave oscillations are constrained by the swept-volume limit. Oscillation constraints are also applied on the surge and pitch oscillations. The paper discusses time-domain simulations for an irregular wave input with and without the present control. Also discussed are results obtained over a range of irregular wave conditions derived for energy periods from 7 s to 17 s, and a significant wave height of 1 m. It is found that, while the gains in power capture enabled by the present control are significant, the actuation forces are also very large, given the small size of the buoy. Further, due to the small size, heave is found to be the dominant contributor to power capture, with relatively modest contributions from surge and pitch. 相似文献
2.
According to Newton''s Second Law and the microwave theory, mechanical analysis of multiple buoys which form Sharp Eagle wave energy converter (WEC) is carried out. The movements of every buoy in three modes couple each other when they are affected with incident waves. Based on the above, mechanical models of the WEC are established, which are concerned with fluid forces, damping forces, hinge forces, and so on. Hydrodynamic parameters of one buoy are obtained by taking the other moving buoy as boundary conditions. Then, by taking those hydrodynamic parameters into the mechanical models, the optimum external damping and optimal capture width ratio are calculated out. Under the condition of the optimum external damping, a plenty of data are obtained, such as the displacements amplitude of each buoy in three modes (sway, heave, pitch), damping forces, hinge forces, and speed of the hydraulic cylinder. Research results provide theoretical references and basis for Sharp Eagle WECs in the design and manufacture. 相似文献
3.
以新型激光雷达浮标系统为研究对象,基于ANSYS/AQWA开展了激光雷达浮标系统运动响应特性数值研究,研究了浮标吃水深度、形状参数对于激光雷达浮标运动响应的影响规律,分析了附加质量、辐射阻尼、运动响应RAO及一阶、二阶波浪力等水动力参数。采用时域分析方法对不同风浪流荷载入射角度下的激光雷达浮标锚泊系统张力特性进行了计算分析。研究结果表明:随着浮标吃水深度的增加,浮标纵荡方向响应无明显变化,垂荡响应显著增大;随着浮标底部圆台直径的增大,浮标纵荡方向响应变化较小,而圆柱形浮标垂荡运动响应显著大于圆台形浮标;当浮标系泊锚链发生松弛—张紧状态变化时易出现极端张力,且极端张力出现的幅值和频率随有效波高的增大和谱峰周期的减小而增大。 相似文献
4.
The three-dimensional coupled behavior during the interaction of buoys with their mooring systems is numerically analyzed. A time-domain model was developed to predict the response of a tethered buoy subject to hydrodynamic loadings. External loadings include hydrodynamic forces, tethers tensions, wind loadings and weight. System nonlinearities include large rotational and translational motions, and non-conservative fluid loadings. The mooring problem is formulated as a combined nonlinear initial-value and two-point-boundary-value problem which is directly integrated both in time and space. Buoy equations of motion are derived using small Eulerian angles. Coupling between rotational and translational degrees of freedom is included and coupling between the buoy and cable is effected by adopting the buoy equations of motion as boundary conditions at one end for the mooring problem. Numerical examples are provided to validate the formulation and solution technique; predicted responses of three types of buoy (sphere, spar, and disc) are compared with experimental results. 相似文献
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6.
To plan for proper mitigation measures, one should have an advanced knowledge of the phenomenon of tsunami propagation from the deep ocean to coastal waters. There are a few methods to predict tsunamis in the ocean waters; one method is the effective use of data buoy measurements. Although data buoys have been used along the Indian waters there has been a tremendous growth in the number of buoy deployment recently. Under the National Data Buoy Programme (NDBP) of India, the 2.2 m diameter discus data buoys were deployed along the east and west coasts of India for measuring meteorological and ocean parameters. It would be advantageous if these buoys could be efficiently used to measure rare events such as tsunamis. Understanding the dynamic behavior of the buoy is of prime importance if a tsunami warning system is to be successful. This may be accomplished through experimental or numerical studies. A comprehensive experimental study has been conducted to understand the dynamic behavior of a wave rider buoy exposed to a variety of waves. It is common that tsunami waves are represented in terms of shallow water waves, namely solitary and cnoidal waves. Hence, in the present study, the discus type data buoy is scale modeled and tested under the action of solitary and cnoidal waves in the laboratory. The time histories of wave elevations, as well as heave and pitch motions of the buoy model, were analyzed through a spectral approach as well as through wavelet transformations. The wavelet approach gives more detailed insight into the spectral characteristics of the buoy motion in the time scale. The harmonic analyses were performed for the cnoidal wave elevations and subsequent motion characteristics that give an insight into the energy variations. The details of the model, instrumentation, testing conditions and the results are presented in this paper. 相似文献
7.
Point absorber wave energy device with multiple degrees of freedom (DOF) is assumed to have a better absorption ability of mechanical energy from ocean waves. In this paper, a coaxial symmetric articulated point absorber wave energy converter with two degrees of freedom is presented. The mechanical equations of the oscillation buoy with power take-off mechanism (PTO) in regular waves are established. The three-dimensional numerical wave tank is built in consideration of the buoy motion based upon the CFD method. The appropriate simulation elements are selected for the buoy and wave parameters. The feasibility of the CFD method is verified through the contrast between the numerical simulation results of typical wave conditions and test results. In such case, the buoy with single DOF of heave, pitch and their coupling motion considering free (no PTO damping) and damped oscillations in regular waves are simulated by using the verified CFD method respectively. The hydrodynamic and wave energy conversion characteristics with typical wave conditions are analyzed. The numerical results show that the heave and pitch can affect each other in the buoy coupling motion, hydrodynamic loads, wave energy absorption and flow field. The total capture width ratio with two coupled DOF motion is higher than that with a single DOF motion. The wave energy conversion of a certain DOF motion may be higher than that of the single certain DOF motion even though the wave is at the resonance period. When the wave periods are high enough, the interaction between the coupled DOF motions can be neglected. 相似文献
8.
冰区四季通用灯浮标是一种为满足北方冬季冰冻港口一年四季的助航服务需求研制的新型灯浮标,二阶波浪力对其漂浮姿态和漂移运动有较大影响。文中研究了浮标受到的二阶波浪力的数值计算方法,计算了不同流速下罐形和锥形灯浮标的二阶波浪力。研究结果显示,罐形和锥形灯浮标受到的一阶波浪力相差不大,罐形的二阶波浪力明显小于锥形,具有一定的外形优势。 相似文献
9.
Current paper presents a mathematical model based on 2D-asymmetric wedge water entry to model heave and pitch motions of planing hulls at non-zero heel angles. Vertical and horizontal forces as well as heeling moment due to asymmetric water entry are computed using momentum theory in conjunction with added mass of impact velocity in vertical and horizontal directions. The proposed model is able to compute sway and yaw forces, roll moment, as well as heave and pitch motions in calm water and regular waves. Validity of the proposed model is verified by comparing the results against existing experimental data in both symmetric and asymmetric conditions. Ultimately, different parametric studies are conducted to examine the effects of non-zero heel angle on dynamic vertical motions. The resulting sway and yaw forces due to asymmetric motion are also derived and effects of heel angle on these side forces are investigated. 相似文献
10.
《Coastal Engineering》2006,53(10):799-815
Using the volume of fluid (VOF) method, a numerical model is developed to estimate the nonlinear dynamics of a pontoon type moored submerged breakwater under wave action and the forces acting on the mooring lines, for both the vertical and inclined mooring alignments. The model is developed for a two-dimensional wave field in a vertical plane. The finite displacements of the breakwater such as sway, heave and roll in a very small time step are considered and the numerical grid cells intersected by the breakwater surfaces for changing its position due to wave action are treated using the concept of porous body model. Also, two-dimensional experimental studies are carried out to investigate the performance of the proposed model. The comparison of the computed and measured results reveals that the developed numerical model can reproduce well the dynamics of the floating body and the mooring line forces. 相似文献
11.
第一个刚臂式单点系泊储油装置(SBS)于1974年在突尼斯建成,以后在各地又建成了很多个这类装置,据报导其使用效果是令人满意的[1,2].为了发展我国海洋石油勘探、开发的科学技术,在海洋石油研究所的协助下,我们对这种系泊系统进行了波浪模型试验研究,本文在试验成果的基础上,主要研究单点浮筒多链系统的静力特性和波浪要素、水深等对链力的影响,还研究了减小中链力的措施. 相似文献
12.
Hai-lei Kou Dan-liang Yang Wang-chun Zhang Yi-fan Wu Qiang Fu 《Marine Georesources & Geotechnology》2020,38(8):980-988
AbstractThe performance of steel caisson during and after installation with different penetration velocities in medium dense sand is presented. The applied jacking forces, the amount of formed soil heave and bearing capacity were measured in the model tests. The influence of penetration velocities on jacking forces, soil heave and bearing capacity were also discussed in detail. The results indicated that the jacking forces for caisson in medium dense sands were significantly affected by the penetration velocity. The larger the penetration velocity, the more soil flowed into the caisson cavity during installation. This will lead to larger inner shaft resistance and in turn more jacking forces required for the same penetration depth. The height of soil heave during installation increases with penetration velocity. The m value calculated by the ratio of the volumes of the soil heave to that of the penetrated caisson wall can be used to evaluate the soil heave. The larger the applied velocity, the larger the m value and larger bearing capacity of caisson after installation. The relationship between the m value and penetration velocity can be used to control the soil heave for a steel caisson with a wall thickness to external diameter ratio of 4.2% in medium dense sand by jacking method. 相似文献
13.
This paper describes a new procedure of directional wave analysis from pitch-roll buoy measurements. The two previous procedures adopted by the National Data Buoy Center (NDBC) [Steele, K. E., Lau, J. C. K. and Hsu, Y.-H. L. (1985) Theory and application of calibration techniques for an NDBC directional wave measurement buoy. IEEE Journal of Oceanic Engineering OE-10(4), 382-396; Steele, K. E., Teng, C.-C. and Wang, D. W. C. (1992) Wave direction measurements using pitch-roll buoys. Ocean Engineering 19(4), 349-375] are relevant to our formulations. In these two studies, an estimate for the total phase shift of the sea surface displacement/slope spectra from the measured buoy heave/pitch and heave/roll spectra was calculated either by a weighted average method or a maximum heave/pitch quad-spectrum method. These two formulations were based on a fundamental assumption of symmetric hull-mooring effect on pitch and roll motions, which will never be true in the oceans. In the present study we essentially incorporate the basic formulations of NDBC, but calculate two estimates for this total phase shift.Examples of directional wave analysis from data measured by a 3 m diameter discus buoy during Typhoon Herb are presented in this paper. This data set was also analyzed by the weighted average method of Steele et al. (1985) which yielded unsatisfactory results of wave directions during severe wave climates. 相似文献
14.
A method of extracting wave parameters from surface displacement measured from a moving platform is presented. The article first presents a method for accurately measuring surface displacement using a single beam altimeter and heave sensor. A least squares approach is presented to estimate wave parameters using vessel velocity and perceived wave frequency that eliminates Doppler due to vessel motion. Two techniques for estimating wave frequency are presented: a block data method using MUSIC and a real-time method using demodulation. Sea trial results demonstrate that this method is as effective as a WaveRider buoy for estimating wave parameters. 相似文献
15.
Mikael Eriksson Jan Isberg Mats Leijon 《Oceanic Engineering, IEEE Journal of》2006,31(4):959-963
In this paper, we compare simulated forces and accelerations for a moored floating buoy with full-scale experimental results in real ocean waves. The buoy is moored with a wire connected by springs to a concrete foundation situated at the seafloor. This study aims to develop a computer model using potential theory with a linearized free-surface boundary condition to describe the motion of such a system. The intention is to use the model for future study of wave-energy absorption and design of converters. Another objective is to see how complex a model is required to get accurate results. The method used is computationally fast and makes it possible to couple linear buoy wave interaction with nonlinear generator models, so that different loads and latching can be studied. A computationally fast method is required to model farms of wave-energy converters 相似文献
16.
Large volume semi-submersible units may present significant wave induced resonant motions in heave, roll and pitch. Evaluating the slow motions of such systems is important from the initial stages of their designs and therefore requires a model that is both accurate and expedite enough. In the present article, different options for modeling the second-order hydrodynamic forces and induced motions are discussed using as a case-study the PETROBRAS 52 unit—P-52. Computations of the low frequency forces are performed in the frequency domain by means of a commercial Boundary Element Method (BEM) code. Different hydrodynamic approximations are tested and evaluated by directly comparing the predicted responses with those measured in small-scale tests performed in a wave-basin. From the results obtained in theses comparisons, a methodology based on a white-noise approach of the force spectrum is proposed. The validity of such approximation is attributable to the typically low damping levels in heave, roll and pitch motions. Furthermore, results also indicate that the second order forces may be calculated disregarding the free-surface forcing components, an option that helps to reduce the computational burden even more, rendering the procedure suitable for preliminary design calculations. 相似文献
17.
C.L. Kirk 《Ocean Engineering》1985,12(2):177-184
This paper is concerned with nonlinear resonant heave motion of a semisubmersible vessel at the survival draft. Due to the small potential of the hulls at deep draft the resonant motion is governed almost entirely by nonlinear drag forces on the hull and bracing members.Long period ocean swell following a storm can excite semisubmersiblesat resonance in heave and delay the resumption of drilling activities.The paper presents a simple closed form solution for determining the heave motion at the natural period which agrees well with other theoretical and experimental results. 相似文献
18.
《中国海洋工程》2021,(4)
Wave forces on two side-by-side boxes in close proximity under wave actions were analyzed using the OpenFOAM package. The upstream box heaved freely under wave actions, whereas the downstream box remained fixed. For comparison, a configuration in which both boxes were fixed was also considered. The effects of the heave motion of the upstream box on the wave loads, including the horizontal wave forces, vertical wave forces, and moments on the boxes, were the focus of this study. Numerical analyses showed that all frequencies at which the maximum horizontal wave forces, maximum vertical wave forces, and maximum moment appeared are dependent on the heave motion of the upstream box and that the effects of the heave motion on these frequencies are different. Furthermore,these frequencies were observed to deviate from the corresponding fluid resonant frequency. Moreover, the heave motion of the upstream box reduced the wave forces acting on both boxes and altered the variation trends of the wave forces with the incident wave frequency. 相似文献
19.
The modal parameters of a scale-modeled discus-shaped data buoy in heave and pitch are estimated from the experimentally measured impulse response time histories. The use of phase-time, time–frequency domains for derivation of natural frequencies and damping are demonstrated in this paper. The phase-time method is based on the Hilbert transformation, whereas, the time–frequency method is based on the continuous wavelet transformation (CWT) of the measured time histories. In addition, the conventional time and frequency domain method of modal parameter estimation is also adopted for the comparison of results. The details of the model, test procedure, analysis and results are presented in this paper. The modal parameters obtained through CWT are found to be accurate compared to that obtained from the time and frequency domain analysis. 相似文献
20.
A study of nonlinear heave radiation of two-dimensional single and double hulls has been carried out in the time domain. The problem is analyzed by means of a fully nonlinear mathematical model, referred to as the mixed Eulerian–Lagrangian (MEL) model, which is based on an integral relation formulation coupled with time-integration of the nonlinear free-surface boundary conditions. The integral equation solver is based on a cubic-spline boundary-element scheme in which both potential and velocity continuity conditions can be enforced through the intersection points. The body undergoes periodic forced heave oscillation. By implementing effective wave-absorbing beaches at the two ends of the rectangular numerical tank, long-term steady-state force-histories could be achieved consistently in all computations.Results in terms of radiation forces for rectangular and triangular single- and twin-hull geometries are presented and discussed. Linear hydrodynamic forces in terms of added-mass and damping are validated for the rectangular hull. The Fourier-analyzed results reveal the extent of nonlinear (higher-order) components in the force-signals over different parameters which include the amplitudes of oscillation, hull-spacing for the twin-hulls and water depth. 相似文献