漂浮式海洋牧场养殖装置系泊系统设计

基于所设计的新型多功能海洋牧场养殖装置结构,设计一套系泊系统,在考虑海况参数、风力机载荷以及水轮机载荷的情况下,利用AQWA软件对平台进行时域分析。对比纯锚链和锚链-钢缆-锚链2种系泊方案在作业及生存工况下的平台运动状况,并根据生存工况下的最大系泊力,设计破损生存工况,并进行系泊系统部分失效分析。研究发现：纯锚链系泊方案下的平台运动幅度更小,锚泊张力安全系数更大,更有利于平台作业,并且在生存工况和破损生存工况下均具有较良好的安全性。     

基于联合仿真的波浪能发电装置PTO系统参数优化研究

PTO(power take-off)系统是波浪能发电装置（wave energy converter, WEC）的重要组成部分。本文针对摇臂式波浪能发电装置,提出一种机械式PTO系统,考虑发电机负载与机械传动的影响,开展摇臂浮子水动力性能与PTO系统的联合仿真研究。分析摇臂浮子在不同行程工作模式下的运动响应,并对联合仿真模型的PTO系统参数进行优化。研究发现：在目标海况下,本项目设计的发电装置,双行程工作的WEC系统功率显著高于单行程工作状态,双行程WEC最佳功率对应的传动比约为72.5;单行程工作的摇臂浮子在低传动比（小于60）下的上升、下降功率近乎相等,随着传动比的增加,上升、下降行程的功率相较于双行程模式都分别递增,且下降行程功率大于上升行程功率。本文采用的联合仿真方法可为不同海况与各类振荡浮子式波能发电装置的设计与选型提供参考。     

半潜型浮式风机运动特征及系泊系统的研究

近年来海上浮式风机的研究备受关注,安全可靠的系泊系统将保证风机在风、浪、流等复杂环境荷载作用下稳定运行,准确合理地描述风机运动将为评估风机发电效率提供支持。以半潜型浮式风机的系泊系统为研究对象,基于经典悬链线理论,采用准静态分析法提出一套系泊系统的设计方法。通过坐标变换,得到风轮真实的俯仰运动用于计算风机的动力效应及评定其发电效率。采用动力法分析了系泊系统锚链的导缆孔位置、预张力大小、锚链间夹角等参数对风机系统发电效率、浮式平台运动性能和系泊锚链张力的影响,得到了浮式平台迎风面俯仰倾角、水平偏移及锚链张力随参数的变化规律,为半潜型浮式风机系泊系统的设计提供了参考。     

新型波能发电装置的模型设计及试验研究

为了开发和利用海洋中蕴含的波浪能,设计了一种以漂浮浮体作为波能采集装置的新型波能发电系统。此新型漂浮式波能发电装置与其他波能发电装置相比,具有结构简单、适用性强、维护方便、不受水深限制等优点。采用理论分析与模型试验相结合的方法,研究浮体初始吃水深度和入射波波高变化对波能采集浮筒运动的影响。实验结果表明：波能装换效率达到12.17%,验证了模型试验设计的可行性,并对漂浮式波能发电装置的实物设计具有指导意义。     

新型干树半潜平台系泊系统的时域耦合分析

我国海洋油气开发正逐步从近海浅水区域不断往远海深水区域发展。随着水深的增加,传统的以锚链为材料,以自重为回复力的悬链线式系泊系统已经不再适用。世界上超深水浮式生产平台基本上都采用张紧式系泊系统,并且中间段采用超轻的聚酯缆材料以降低其施加在平台上的荷载。基于1500米超深水的中国南海环境,开发了一种运动性能良好的新型干树半潜平台。新型平台的系泊系统采用张紧式锚链-聚酯缆-锚链形式。根据平台尺度和环境条件,对系泊系统进行了布置和设计。通过时域耦合方法对系泊系统进行了数值分析,分析结果表明系泊系统强度满足规范和设计要求。     

浮摆式波浪发电平台系泊系统设计

针对一台自行设计的浮摆式波浪发电平台的运动特点与采能方式,对其系泊系统进行设计。系泊型式为"平台—连接缆—浮筒—锚链—锚"的悬链线单点浮筒系泊。以试验海域海况参数为依据,计算系统载荷,并采用准静力分析法对系泊系统各构件进行选型设计。设计的连接缆为钢丝绳,浮筒为圆柱型钢制浮筒,锚链为二级有档锚链,作业锚为AC-14锚。经检验,设计的系统符合安全要求和平台稳定性需求。     

浮标系泊结构的参数优化匹配方法研究

针对浅海浮标系泊结构姿态控制问题,进行系统参数优化匹配计算方法研究.首先进行系泊结构力学分析,建立系统的力和力矩平衡方程,推导出系泊系统状态的描述方程;采用系泊系统起锚角和检测设备舱的倾斜角度为约束条件,取锚链型号和重物球质量作为设计变量,建立锚链的垂直高度相对误差最小为目标的系统参数优化匹配的数学模型;用最小二乘法求解非线性方程组,进行分层变量优化计算.所提出的系泊系统结构参数优化计算方法可为浮标系泊系统结构设计提供理论依据.     

浮标系泊结构的参数优化匹配方法研究

针对浅海浮标系泊结构姿态控制问题,进行系统参数优化匹配计算方法研究。首先进行系泊结构力学分析,建立系统的力和力矩平衡方程,推导出系泊系统状态的描述方程;采用系泊系统起锚角和检测设备舱的倾斜角度为约束条件,取锚链型号和重物球质量作为设计变量,建立锚链的垂直高度相对误差最小为目标的系统参数优化匹配的数学模型;用最小二乘法求解非线性方程组,进行分层变量优化计算。所提出的系泊系统结构参数优化计算方法可为浮标系泊系统结构设计提供理论依据。     

悬链浮筒式多点系泊锚链受力计算

悬链浮筒式多点系泊（MBM）是大型油船外海停泊时经常采用的一种离岸系泊方式,但国内尚无实际应用。针对MBM系统中的主要结构部件锚链进行受力分析,通过采用悬链线方程,对自由或约束状况下单条锚链和复合锚链的受力进行理论分析和计算,总结出一套锚链受力的系统分析方法,并对中东某MBM工程进行案例计算。结果表明,提出的理论公式和设计方法可为MBM的锚链设计提供借鉴。     

防风水鼓系泊系统系泊力的计算方法

介绍在时域内，防风水鼓系泊系统在风、浪、流联合作用下计算系泊力的1种方法。该方法是在分析波浪荷载时，使用了设计波法和非线性Stokes五阶波，并由经验公式求出了船舶的风、流作用力。由准静态方法计算了初始条件后，在忽略了锚链和水鼓动态效应对船舶运动的影响条件下，求解了系泊力和船舶的运动时历。再由二维集中质量法建立了锚链和水鼓的数学模型，用Houbolt方法求解了锚链和水鼓的运动方程，并对系泊力进行了修正。将计算结果和其它经验公式计算的结果进行了比较，吻合得较好，表明本文建立的方法能够用于防风水鼓系泊系统的系泊力计算。     

双浮体波浪能装置的振荡和能量转换特性研究（英文）

In this study, we investigated the hydrodynamic and energy conversion performance of a double-float wave energy converter(WEC) based on the linear theory of water waves. The generator power take-off(PTO) system is modeled as a combination of a linear viscous damping and a linear spring. Using the frequency domain method, the optimal damping coefficient of the generator PTO system is derived to achieve the optimal conversion efficiency(capture width ratio).Based on the potential flow theory and the higher-order boundary element method(HOBEM), we constructed a threedimensional model of double-float WEC to study its hydrodynamic performance and response in the time domain. Only the heave motion of the two-body system is considered and a virtual function is introduced to decouple the motions of the floats. The energy conversion character of the double-float WEC is also evaluated. The investigation is carried out over a wide range of incident wave frequency. By analyzing the effects of the incident wave frequency, we derive the PTO's damping coefficient for the double-float WEC's capture width ratio and the relationships between the capture width ratio and the natural frequencies of the lower and upper floats. In addition, it is capable to modify the natural frequencies of the two floats by changing the stiffness coefficients of the PTO and mooring systems. We found that the natural frequencies of the device can directly influence the peak frequency of the capture width, which may provide an important reference for the design of WECs.     

两类锚泊系统在漂浮式双体浮动式波能转换装置垂荡运动状态下的性能（英文）

This work investigated the influence of two types of mooring systems on the hydrodynamic performance of a two-body floating wave energy converter(WEC). It also investigated the effects of the physical parameters of the mooring system on the amount of extractable power from incident waves in the frequency domain. The modeled converter comprised a floating body(a buoy), a submerged body with two mooring systems, and a coupling system for two bodies. The coupling system was a simplified power take-off system that was modeled by a linear spring-damper model. The tension leg mooring system could drastically affect the heave motion of the submerged body of the model and increase relative displacement between the two bodies. The effects of the stiffness parameter of the mooring system on power absorption exceeded those of the pretension tendon force.     

鹰式装置“万山号”总体设计概述

100kW鹰式波浪能发电装置工程样机“万山号”为一基多体式设计,四个鹰式吸波浮体共享水下附体、能量转换系统及锚泊系统。通过一系列模型试验,获得最优负载。根据模型试验结果,确定了实海况装置的出力参数。为稳定地获得标准电力与试验数据,设计了涵盖蓄能、发电、变电模块、电气监控模块、电源模块、浮态监控模块和岸基模块等多个模块的电气系统。通过锚泊系统计算与分析,确定了锚泊系统的选型参数。     

FPSO系泊系统参数的动力效应影响分析

利用水动力分析软件AQWA研究了内转塔式单点系泊参数对海上浮式生产储油船FPSO（floating production,storage and affcoading system）系统动力效应的影响特性,定量分析了内转塔位置、系泊缆材料分布、系泊缆预张力、系泊缆数量、系泊缆布置形式等参数对FPSO系统动力效应的影响,对每个系泊参数采取多个特征量进行比较分析,计算结果表明：转塔位置距船艏柱25%Lpp时风标效应及定位效果最好,多成分系泊缆材料分布采取下端钢链9%、聚酯缆90%、上端钢链1%时,系泊缆数量取9根且为3组×3根/组布置时定位效果最好,缆绳受力最小.以FPSO水平偏移量与系泊缆的安全系数为目标,提出了一套系泊系统的优选方案,计算结果表明系泊性能优良,与初步设计方案相比有了显著地提高.文中的计算及分析结果对内转塔式FPSO系泊系统的设计具有一定指导意义.     

深海平台复合单系泊缆形状和张力分析

以一工作水深为310 m的转塔式浮式生产存储系统为例研究了复合单系泊缆索静力特性的计算方法,用C++编写了基于悬链线方程式的深海平台系泊缆形状和张力的分析计算程序,计算并分析了复合单缆在无浮筒重物、只有浮筒、只有重物、既有浮筒又有重物四种情况下的形状和张力,为动力计算提供条件。本方法简单直观,并且完成一次计算所耗时间不到1 s,特别适合于需要多次迭代计算复杂系泊系统静力特性的等效水深截断系统优化设计。     

A survey on modeling and control of thruster-assisted position mooring systems

This review presents a systematic summary of the state-of-the-art development of technological solutions, modeling, and control strategies of thruster-assisted position mooring (TAPM) systems. The survey serves as a starting point for exploring automatic control and real-time monitoring solutions proposed for TAPM systems. A brief historical background of the mooring systems is given. The kinematics and a simplified kinetic control-design model of a TAPM system are derived in accordance with established control methods, including a quasistatic linearized model for the restoring and damping forces based on low-frequency horizontal motions of the vessel. In addition, another two mooring line models, i.e., the catenary equation and the finite element method model, are presented for the purpose of higher-fidelity simulations. The basic TAPM control strategies are reviewed, including heading control, surge-sway damping, roll–pitch damping (for semisubmersibles), and line break detection and compensation. Details on the concepts of setpoint chasing for optimal positioning of a vessel at the equilibrium position are discussed based on balancing the mooring forces with the environmental loads and avoiding mooring line failure modes. One method for setpoint chasing is the use of a structural reliability index, accounting for both mean mooring line tensions and dynamic effects. Another method is the use of a lowpass filter on the position of the vessel itself, to provide a reference position. The most advanced method seems to be the use of a fault-tolerant control framework that, in addition to direct fault detection and isolation in the mooring system, incorporates minimization of either the low-frequency tensions in the mooring lines or minimization of the reliability indices for the mooring lines to select the optimal directions for the setpoint to move. A hybrid (or supervisory switching) control method is also presented, where a best-fit control law and observer law are automatically selected among a bank of control and observer algorithms based on the supervision of the sea-state and automatic switching logic.     

Development of study on the dynamic characteristics of deep water mooring system

To meet the needs of those exploiting deepwater resources, TLP and SPAR platforms are used in some areas and are considered excellent platforms in deep water. However, many problems remain to be resolved. The design of mooring systems is a key issue for deep water platforms. Environmental loads in deep water effect the physical characteristics of mooring line materials. The configuration and analysis of mooring systems involve nonlinearity due to this fluid-solid coupling, nonlinear hydrodynamic forces, and their effects on stability of motion. In this paper, some pivotal theories and technical questions are presented, including modeling of mooring lines, the theory and method of coupled dynamics analysis on the mooring system, and the development of methodologies for the study of nonlinear dynamics of mooring systems. Further study on mooring systems in deep water are recommended based on current knowledge, particularly dynamic parameters of different materials and cable configuration, interactions between seabed and cable, mechanisms of mooring system response induced by taut/slack mooring cables, discontinuous stiffness due to system materials, mooring construction, and motion instability, etc.     

基于锚泊系统的半潜式海洋平台定位方法研究

以工作水深1200m、8缆系泊的半潜式海洋平台为对象,研究其系统定位方法,通过改变锚泊系统系泊缆长度来实现平台的定位。建立反映半潜式海洋平台锚泊系统动力响应的多目标优化模型,通过求解得到船体目标位移与最优系泊缆长度,借助多学科软件iSIGHT,通过开发程序接口,调用水动力分析软件ANSYS/AQWA求解器求解,实现了半潜式平台锚泊系统的结构动力响应优化设计。对半潜式平台进行风、浪、流联合作用下的水动力耦合分析,实时控制系泊缆长度来实现平台的定位并保证平台的稳定性。     

大型集装箱船码头系泊及抗台风计算分析

运用BV(法国船级社)系泊分析软件ARIANE7.0.2对某10000TEU集装箱船码头系泊状态进行研究,采用时域计算方法分析了风、流载荷共同作用下预张力、缆绳材质和系泊布置等对系泊系统张力的影响。结果表明:确定合适的预张力能够改善系泊系统的受力状态;弹性模量的取值大小对缆绳张力影响明显;缆绳配置数量并非越多越好,同时要尽量避免系泊缆的垂向角度过大。还给出了满足台风状态下码头系泊安全要求的系泊布置方案。     

单点锚泊船锚链线水平摄动分析

为研究单点锚泊船在外力作用下的低频运动锚链线的恢复性能的问题,利用锚链线的静力特性推导出锚泊线方程,考虑水深、水平位移、单位锚链重与水平作用的关系,同时通过水平作用力与顶端水平位移进行参数摄动分析,以偏微分的方法推导了锚泊线恢复性能系数方程,并结合水平力参数摄动法分析锚泊线的恢复作用性能。计算结果验证了恢复系数具有明显的非线性,所得恢复性能方程及摄动分析结论对工程实践及锚泊(防走锚)预警系统的理论研究具有一定的参考意义。