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| 基于动力定位系统的沙漏型浮体多自由度耦合运动分析 |
| Coupling analysis on multi-degrees of freedom motions of sandglass-type floating body based on dynamic positioning system |
| 投稿时间：2018-03-27 修订日期：2018-04-27 |
| DOI： |
| 中文关键词: 沙漏型浮体 动力定位系统 耦合作用 推进器 附加纵摇力矩 频率响应传递函数 |
| 英文关键词: Sandglass-type floating body Dynamic positioning system Coupling effect Thruster Additional pitch moment Frequency-domain transfer function |
| 基金项目:国家自然科学基金项目（面上项目，重点项目，重大项目）,创新研究群体科学基金，工信部海洋工程装备科研项目，辽宁省自然科学基金面上项目 |
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| 中文摘要: |
| 在传统动力定位系统的设计过程中，通常只考虑水平面内纵荡、横荡以及首摇三个自由度的运动。然而本文研究的具有水动力性能优势的新概念沙漏型浮体，由于其具有水线面面积和初稳性高较小等特性，使得沙漏型浮体纵摇运动的固有频率与推进器纵向控制力的频率相接近，导致浮体水平面和垂直面的运动产生耦合作用，从而会引起较大的纵荡和纵摇运动响应。针对此项问题，本文采用基于势流理论的边界元方法计算沙漏型浮体的波浪载荷和水动力参数。此外，结合实际布置推进器产生的控制载荷，建立沙漏型浮体纵荡-纵摇-垂荡耦合运动方程。进一步，通过数值模拟和频率响应传递函数重点讨论沙漏型浮体多自由度运动的相互影响以及推进器附加纵摇力矩引发的问题。最后，将纵摇阻尼和惯性力项加入到纵荡控制力中，显著降低了纵荡和纵摇运动响应，使得沙漏型浮体的纵荡和纵摇运动响应能够满足定位精度的要求。 |
| 英文摘要: |
| Traditional control law of dynamic positioning system always considers three degree-of-freedom (DOF) motions (surge, sway and yaw) in the horizontal plane. However, for the new conceptual sandglass-type floating body with good performance as research subject of this paper, due to its small water plane area and metacentric height, large motion responses in horizontal and vertical planes may be induced by the coupling effect and resonance between pitch motion and control load of thrusters. By the numerical boundary element method (BEM) based on wave potential theory, the wave loads and hydrodynamic parameters of floating body are calculated. Furthermore, by introducing the control loads of thrusters, the coupling equations of surge, pitch and heave motions of sandglass-type floating body are created. Through numerical simulations and theoretically analysis by means of the frequency-domain transfer function of pitch and surge motions, the interactive effects of multi-DOF motions and additional pitch moment of thrusters are mainly discussed. Finally, a control law considering pitch damping and pitch inertia effect has been adopted to directly weaken the obvious pitch and surge motions to meet the positioning accuracy requirement well. |
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