共查询到20条相似文献，搜索用时 437 毫秒
1.
海洋缆体系统的统一凝集参数时域分析法 总被引：19，自引：5，他引：19
提出了海洋缆一体系统的三维动态性能时域分析法，并给出了计算机程序。采用凝集参数法模拟了缆一体结构系统，缆为圆形截面，可伸长，不考虑弯曲刚度，采用了四阶龙格一库塔法积分系统运动方程，计算了二个实例以验证程序的可靠性，程序可用于系泊，拖曳，潜器脐带缆等具有组合成分的海洋缆体系统的初步设计。 相似文献
2.
A. P. K. De Zoysa 《Ocean Engineering》1978,5(3):209-223
A numerical solution and computer program developed to analyse undersea flexible cable problems is presented. The cable is subject to hydrodynamic loads from a surrounding fluid medium. The object is to determine the cable profile and tensile forces developed. The cable equations and boundary conditions result in a classical two-point boundary value problem. An iteration ‘shooting method’ is used for solution. The program has been written to analyse a class of towing and anchoring problems. However the analysis is general and applicable to most steady-state cable problems. 相似文献
3.
A numerical approach for predicting motion and tension of extensible marine cables during laying operations in a rough sea is presented here. The solution methodology consists of dividing the cable into straight elements, which must satisfy an equilibrium equation and compatibility relations. The system of nonlinear differential equations is solved by the Runge–Kutta method, taking the effect of regular and/or irregular waves into account explicitly.
Illustrative applications of the method are given for a typical cable laying ship. The results are presented as rms values of the cable dynamic tension and corresponding dynamic factor for two different types of cable and several values of cable stiffness. The effect of axial deformation on the maximum tension at the shipboard pulley location is highlighted. 相似文献
4.
The dynamic response of a towed cable system to ship maneuver is parametrically simulated. Three dimensionless parameters influence on towed cable system maneuverability is investigated. They are ratio of total length to turning radius R/L, ratio of cable mass to vehicle mass σ, and ratio of mass unit length to hydrodynamic force w/r. An oscillatory motion of towed vehicle is found in simulation of spiral towed courses. Features of this oscillation in different spiral courses are compared. The sharp turns, gradual turns and their transient states of towed cable dynamics for different course directions are discussed extensively. According to the characters of transient states and horizontal trajectories evolution of maneuvered cable system, the dynamic behaviors can be divided into three situations in Fig. 8 turning maneuvers. The behavior of towed cable system during a zigzag turning course is simulated in the end. Two ingredients of heave motion are found during small ratio of turning radii to length in this course. The primary damp to initial turning becomes weak and the response to alternative turns plays a more and more important role. The damping properties of the transient behavior in different maneuvers show a periodical invariance to σ during some turning maneuvers. 相似文献
5.
Dynamic Analysis of Towed and Variable Length Cable Systems 总被引：2，自引：3，他引：2
Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system. 相似文献
6.
《Ocean Engineering》2004,31(3-4):455-482
An adaptive algorithm for on-line estimation of physical coefficients of cables in viscous environment is presented. The procedure is useful for obtaining cable characteristics, which are needed in stability analysis and control system design for moored floating structures. It uses measurements of position and forces from on-board instrumentation. It is also able to track changes in the depth and to test for parameter consistency in order to confer the estimation robustness with respect to dynamic perturbations. It is based on nonlinear solvers, which can cope with transcendental functions of the model structure. The proof of asymptotic convergence is presented. Finally, three basic case studies are analyzed. 相似文献
7.
This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle (ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized- implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current. 相似文献
8.
The dynamic behavior of a towed cable system that results from the tow ship changing course from a straight-tow trajectory to one involving steady circular turning at a constant radius is examined. For large-radius ship turns, the vehicle trajectory and vehicle depth assumed, monotonically and exponentially, the large-radius steady-state turning solution of Chapman [Chapman, D.A., 1984. The towed cable behavior during ship turning manoeuvers. Ocean Engineering 11, 327–361]. For small-radius ship turns, the vehicle trajectory initially followed a corkscrew pattern with the vehicle depth oscillating about and eventually decaying to the steady-state turning solution of Chapman (1984). The change between monotonic and oscillatory behavior in the time history of the vehicle depth was well defined and offered an alternate measure to Chapman's (1984) critical radius for the transition point between large-radius and small-radius behavior. For steady circular turning in the presence of current, there was no longer a steady-state turning solution. Instead, the vehicle depth oscillated with amplitude that was a function of the ship-turning radius and the ship speed. The dynamics of a single 360° turn and a 180° U-turn are discussed in terms of the transients of the steady turning maneuver. For a single 360° large-radius ship turn, the behavior was marked by the vehicle dropping to the steady-state turning depth predicted by Chapman (1984) and then rising back to the initial, straight-tow equilibrium depth once the turn was completed. For small ship-turning radius, the vehicle dropped to a depth corresponding to the first trough of the oscillatory time series of the steady turning maneuver before returning to the straight-tow equilibrium depth once the turn was completed. For some ship-turning radii, this resulted in a maximum vehicle depth that was greater than the steady-state turning depth. For a 180° turn and ship-turning radius less than the length of the tow cable, the vehicle never reached the steady-state turning depth. 相似文献
9.
The drag-induced damping in a mooring cable due to combined first- and second-order wave excited motion of a moored vessel has been determined by statistical linearisation. A dynamic stiffness approach developed elsewhere is used to deal with the dynamics of the mooring cables. The power spectral densities of low- and wave-frequency responses are obtained which clearly show the influence of mooring line damping. The non-Gaussian probability density functions (pdf) and expected crossing rates of vessel responses and dynamic cable tensions are determined using the Kac–Seigert technique, and the influence of drag damping is highlighted. 相似文献
10.
Flexible segment model （FSM） is adopted for the dynamics calculation of marine cable being laid. In FSM, the cable is divided into a number of flexible segments, and nonlinear governing equations are listed according to the moment equilibriums of the segments. Linearization iteration scheme is employed to obtain the numerical solution for the governing equations. For the cable being laid, the payout rate is calculated from the velocities of all segments. The numerical results are shown of the dynamic motion and tension of marine cables being laid during velocity change of the mother vessels. 相似文献
11.
深海遥控潜水器多体系统非线性耦合动力特性模拟 总被引：1，自引：0，他引：1
建立带缆遥控潜水器(TROV)系统空间运动模型,探讨支持船-吊缆-中际站-脐带缆-潜水器多体之间的强非线性耦合运动机理。潜器的运动考虑为六自由度,缆索分段的三维动态方程中采用了"凝集参数"模型与平均切向量非线性流体动力载荷处理技术,通过计算非均匀缆索的动张力和瞬态构型,预报导致脐带缆保护层及其内部光电传输芯线结构破坏的巨大瞬间突变载荷,对避免谐振,延长缆索寿命和最大限度地扩大ROV系统安全操作的范围,确保潜水器安全入坞和回收,节约试验费,避免作业事故都具有重要意义。 相似文献
12.
We propose a dynamical model for the prediction of random components of natural processes. The model is based on the system
concept of adaptive balance of causes (ABC-model) and contains dynamic equations for the coefficients of influence adapted to the correlations existing in the predicted
processes. To improve the accuracy of predictions, we consider two possible schemes of assimilation of the data of observations
in the equations of the ABC-model, namely, the Kolmogorov and Kalman schemes. Both schemes are oriented toward the application of sample correlation
coefficients for the prediction of time series of measurements and, hence, take into account the nonstationarity of actual
natural processes. We present some examples of prediction of the simulated time series clarifying the algorithms of assimilation
of the data of observations. A conclusion is made that the methods of systems modeling and adaptive prediction of random processes
by the ABC-method are quite promising. 相似文献
13.
The behavior of a long cable towed at slow speeds through the ocean depends in a complex fashion on the path followed by the towing ship relative to the water. A cable simulation program was used to characterize the response of the cable by using idealized towing ship maneuvers as input to the program. The response of the cable was noted and it was found that the behavior of the cable was strongly dependent on the fundamental period of the towing vessel maneuvers. Sinusoidal deviations of the towing ship from a straight towing track resulted in delayed and reduced excursions of the towed vehicle from the tract; the estimated response ratio varied from 0·002 to 0·800, depending both on the period of the deviations (periods ranged from 5·5 to 4·0 hr) and on the towing depth (2 or 6 km). The ship's speed was 3 km/hr. The time lag between ship motion and vehicle response was approximately 0·5 hr for the shallow case and 1·3 hr for the deep case. Simulations runs of a low dragk (faired) cable showed that the behavior of the vehicle when towed at a depth of 6 km was similar to that obtained with a conventional cable at 2 km depth. The response of the towed vehicle to a right-angle turn of the towing ship was investigated and a generalized model of the response developed. The effects of a controllable side force on the towed vehicle were also simulated and it was noted that a deviation (2-hr period) of the towed vehicle from a straight-line track could be reduced from 40 to 2 m by impressing a side force on the vehicle with an average magnitude of 150 newtons (30 lb). 相似文献
14.
Hyung-suk HAN 《中国海洋工程》2003,17(3)
1 .IntroductionOnthedeepseabed ,30 0 0～ 50 0 0mbelowthePacificOcean ,manganesenodulesaresolidifiedandspread ,andmanycountriesintheworldarestudyinghowtominethem .AccordingtoYamazakietal.( 1 998)andAmannetal.( 1 991 ) ,theenvironmentofthedeepseabedisdifferentfromthedrylandinmanyways .Inparticular,thesurfaceoftheseabedisverysoft.Inordertoensuretheperformanceofrunningofamanganesenodulemineronsuchasoftsurface ,thetrackedvehiclemaybeapplied .Ac cordingtoHongandChoi ( 2 0 0 1 ) ,astudyisbeingdone… 相似文献
15.
This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control. 相似文献
16.
This paper describes the two-phase study of the environmental impact of the SwePol Link submarine electrical energy transfer system between Sweden and Poland. During the first phase (1997–1998), the potential effects of proposed technical solutions for the transmission line and different routes across the Baltic Sea were analysed. During the second phase (1999–2000), studies on environmental and background conditions before cable installation (1999) and studies on the environmental effects after cable system installation (2000) were undertaken. During this phase, underwater TV and video inspection of the bottom, observations of the bottom habitats by scuba-divers, sampling and laboratory analysis of macrozoobenthos and measurements of the earth's magnetic field were conducted.Underwater observations along the cable route indicated that one year after the cable had been laid no mechanical disturbances on the dynamic sandy bottom were visible. Studies of the bottom macrofauna indicated that there had been no significant changes in zoobenthos species composition, abundance or biomass which could have been clearly related to cable installation. Changes in the components of the magnetic field, although significant in the vicinity of the cable itself, did not exceed natural variability at a distance of 20 m. 相似文献
17.
This paper presents the review and studies at various levels of problems concerning the authors’ previous research on the dynamics of vehicle–deck interactions. The various levels of study include the dynamic structural behavior of vehicle–deck systems, vehicle vibrations, damping effects of vehicles on structural systems, dynamic interactions between tire and deck surface, and vehicle securing on decks during ship motions, etc. The study includes analytical, numerical and experimental analysis. Practical problems encountered by Ro–Ro ship designers are addressed by discussing those analysis. It is shown that influences from the dynamics of vehicle–deck interactions are relevant to a number of aspects of issues, such as the excitation frequency range, how detailed information of the structural system response is required, the structure characteristics, and positions and orientations of vehicles on decks, etc. The study contributes to the knowledge for the naval architect and vehicle engineer on how significant the dynamics of vehicle–deck interactions are when dealing with relevant problems. 相似文献
18.
Timothy R. Parsons 《Journal of Oceanography》1988,44(2):94-101
It is a great honour to be awarded the Oceanographical Society of Japan Prize for 1988 and to be provided with this opportunity
to review our work on trophic relations in the pelagic environment of the sea. Many Japanese colleagues have participated
in Canada on our experiments. These persons include Drs. H. Seki, M. Takahashi, A. Hattori, T. Ikeda, I. Koike, M. Ohtsu,
S. Ichimura, K. Iseki, E. Matsumoto, N. Handa, Y. Maita, and others without whom our work on marine ecosystems would have
assumed much less importance. In addition, the visit of Professor M. Uda to Nanaimo in 1959, and his lectures on fisheries
oceanography, have always been an inspiration to me in the practical application of oceanography.
For me, work on trophodynamic relationships grew out of my early association with Dr. J.D.H. Strickland who initiated some
ecosystem studies using large plastic bags in the 1960s (Strickland and Terhune, 1961; Strickland, 1967). The CEPEX program
(e.g. Parsons, 1978), which was started about a decade later, gave us the first real opportunity to break away from laboratory
studies, where only species which generally grew best were studied, and to perform studies under near natural conditions on
multiorganism communities. The purpose of this program was to provide some answers to practical problems as well as to gain
a fundamental understanding of biological oceanographic processes. This program was started at a time when a large number
of stories were circulating (e.g. Heyerdahl, 1975) that man was about to kill life in the oceans through pollution. In a practical sense what I believe that
the CEPEX program showed was that the oceans were much more resilient than had been supposed. The effect of many kinds of
pollutants tested during this program was to change the course of ecosystem interactions but not to cause the elimination
of life. The scientific value of these experiments went much further in giving us time series data about how the physical/chemical
environment interacts with different trophic levels. For the first time, the biological oceanographer was liberated from the
hopeless entanglement of time and space in the sea, and it was now possible to follow population dynamics of planktonic organisms
(Mullin, 1982).
Presented at the annual meeting, Tokyo, 4 April 1988. 相似文献
19.
20.
深水动态脐带缆内部结构复杂,其阻尼特性对脐带缆的舞动以及疲劳损伤有着重要的影响。脐带缆在和流体相互作用过程中,脐带缆内部构件可能会产生滑动,进而影响脐带缆的结构阻尼,这也使得真实海况中脐带缆的舞动和疲劳是一项复杂而值得深入研究的课题。为验证有限元模型能够很好地模拟脐带缆的结构阻尼特性,在考虑内部结构单元间摩擦的基础上,利用ANSYS建立了用于中国南海某油田的脐带缆多层滑移接触摩擦模型。同时,采用自由衰减法对该动态脐带缆开展了原型试验,测得了该缆的结构阻尼比与自振周期。通过对比有限元模型计算结果与原型试验结果发现：数值模型获得的该脐带缆的结构阻尼值与试验值非常接近,这为工程中获得脐带缆结构阻尼比的值提供了好的方向。 相似文献