Research of Springing and Whipping Influence on Ultra-Large Containerships’ Fatigue Analysis

Rules of Classification Societies all around the world have made changes on design wave loads’ value and fatigue influence factor modification due to the influence of springing and whipping on ultra-large containerships. The paper firstly introduced 3-D linear hydroelastic theory in frequency domain and 3-D nonlinear hydroelastic theory in time domain, considering large amplitude motion nonlinearity and slamming force due to the severe relative motion between ship hull and wave. Then the spectrum analysis method and time domain statistical analysis method were introduced, which can make fatigue analysis under a series of standard steps in frequency and time domain, respectively. Finally, discussions on the influence factor of springing and whipping on fatigue damages of 8500TEU and 10000TEU containerships with different loading states were made. The fatigue assessment of different position on the midship section was done on the basis of nominal stress. The fatigue damage due to whipping can be the same as the fatigue damage due to springing and even sometimes can be larger than the springing damage. Besides, some suggestions on calculating load case selection were made to minimize the quantity of work in frequency and time domain. Thus, tools for fatigue influence factor modification were provided to meet the demand of IACS-UR.     

基于傅汝德-克雷洛夫力非线性法的规则波浪中船舶运动数学模型

为准确预报规则波浪中船舶的运动, 提出基于四叉树划分的自适应网格法, 以生成船舶瞬时湿表面, 在船舶瞬时湿表面上计算傅汝德-克雷洛夫(F-K)力与静恢复力; 对于与波面相交的面元, 由于F-K力在波面处剧烈波动, 采用四叉树划分法进一步细分面元; 基于线性理论, 采用瞬时自由面格林函数在船舶平均湿表面上计算扰动力; 为避免瞬时自由面格林函数在自由液面处剧烈波动产生严重数值误差, 舍去扰动势所满足边界积分方程中的水线项, 并对迎浪前进速度为傅汝德数0.2的WigleyⅠ型船舶进行数值计算。计算结果表明: 对低于瞬时波面以下的船体部分, F-K力非线性法所需面元数更少, 为细网格法的1/4~1/8;除不规则频率外, 舍去与未舍去水线项所得水动力系数与试验值的相对误差分别小于33.4%、54.8%, 因此, 舍去水线项所得水动力系数更接近试验结果; 当入射波波幅为0.018 m, 波长与船长比为1.25时, 采用F-K力非线性法与线性法所得纵摇幅值响应因子的计算结果分别比试验值低3.2%、17.0%, 波长与船长比为2.00时, 采用F-K力非线性法与线性法所得纵摇幅值响应因子的计算结果分别比试验值低6.7%、13.5%, 可见, 采用F-K力非线性法能够准确地仿真规则波浪中船舶的运动。      

滑行艇波浪中砰击压力极值研究

滑行艇在波浪中高速滑行时,会引起局部较大的砰击载荷和非常复杂的表面压力分布。为了在保证安全的前提下将装载能力和动力最大化,艇体初步设计时必须合理的估算使用海域可能出现的局部极限载荷大小,来调整艇体抗压能力,获取最优化设计。通过在规则和不规则波浪中的模型试验,测得艇体局部受到的砰击压力极值及特性。并引用简单有效的方法计算该值,与试验测量值吻合较好,证明该方法有一定的工程应用性。     

动力学效应对沉船翻转作业吊缆安全性的影响

为了研究动力学效应对沉船翻转作业安全性的影响, 将吊缆张力作为翻转作业安全性评估指标, 假设船体翻转作业时起重臂吊点固定不动, 研究区域水底为刚性底, 不计上层建筑影响和建立沉船翻转准静态模型时只考虑回复力与外载荷, 分别以船体质量、吊缆刚度、收缆速度与波浪载荷为变量, 应用时域分析方法, 计算了考虑动力学效应的吊缆张力, 基于最大吊缆张力分析了沉船质量、吊缆刚度、收缆速度与波浪载荷对翻转作业中吊缆张力的影响, 评估了沉船整船翻转作业的安全性。计算结果表明: 在沉船船体翻转作业中, 吊缆张力最大值将随沉船质量、吊缆刚度与收缆速度增大而增大, 且吊缆张力最大值与收缆速度呈线性关系, 与船体质量呈近似线性关系, 与吊缆刚度呈非线性关系; 当收缆速度由0.001m·s-1增加至0.020m·s-1时, 吊缆张力最大值较初始值增量增大了约22倍, 可见, 在沉船翻转作业中, 不可忽略动力学效应对作业安全性的影响。      

影响高速三体船连接桥砰击压力峰值因素研究

船舶的砰击问题是一个包含动边界、结构-空气-水三者耦合的非线性、非定常问题,一直是船舶领域研究的前沿热点.新船型高速三体船的砰击问题与常规单体船不同,除了主船体底部砰击外还包括连接桥砰击,这使高速三体船的砰击问题更为复杂.文中利用LS-DYNA仿真软件建立高速三体船结构二维有限元模型,计算其入水过程中连接桥的砰击问题.计算中考虑高速三体船的空气层、结构质量、连接桥宽度和主船体的舭升高角度因素对连接桥砰击压力峰值影响.通过分析,得出各个因素对高速三体船连接桥砰击压力峰值的影响规律.     

Sensitivity Analysis of Wave Slamming Load with Respect to Wind Load for Semi-Submersible Platform Design

A design of offshore floating structure is mainly based on the extreme response analysis due to the forces experienced. The extreme response can induce the negative air gap response and potential impact to the deck bottom of floating structure. It is important to predict the slamming load in order to check the strength of local structures which withstand the wave slamming. In recent years, studies of the effects of wind load on air gap response and slamming load are ignored. When the platform suffers the extreme wave, the wind is also harsh.Moreover, the wind load can affect the motion response of the platform. The wind load cannot be simulated easily by model test in towing tank whereas it can be simulated accurately in wind tunnel test. Though the model test results are not accurate enough for air gap and slamming load evaluation due to the loss of wind effect, they can be used as a good basis for tuning the radiation damping and viscous drag in numerical simulation. This paper aims at presenting the sensitivity analysis results of wave slamming load with respect to the wind load for the design of semi-submersible platform. As an example of semi-submersible drilling platform design, the wind tunnel test has been carried out, and the sea-keeping model test is also performed in towing tank, while the wind load effect is ignored. According to the model test results, a numerical model is tuned and validated by ANSYS AQWA. Sensitivity analysis studies of the relative velocity between water particle and platform surface and the wave slamming load with respect to the wind load are performed in time domain by the tuned numerical model.Five simulation cases about the presented platform are simulated based on the results of wind tunnel tests and sea-keeping tests. The sensitivity analysis results are valuable for the floating platform design.     

Long-term performance prediction of oscillating wings for assisting ship propulsion at actual seas

In order to raise ship energy efficiency, the possibility of wave energy recovery by a pair of coil-spring connected oscillating wings for assisting ship propulsion in waves is investigated. A frequency domain hydrodynamic model based on potential theory is established to predict the effect of the oscillating wings on the ship in regular waves, in terms of reducing wave-added resistance and improving seakeeping performance. The proposed linear model is suitable for short-term prediction based on conventional spectral analysis techniques, thus making it possible to evalute the long-term performance of oscillating wings for assisting ship propulsion at actual seas based on wave statistics. A sample containership is adopted to study the performance of the proposed concept. The results show that the oscillating wings can effectively reduce the added resistance of the ship at actual seas. The feasibility of this green ship technology is proved.     

基于三维时域Green函数法的船舶在规则波浪中的运动数学模型

在小时间区域采用级数展开法, 在大时间区域采用渐进展开法, 在大、小时间过渡区域采用精细积分法, 对三维时域Green函数进行数值计算; 采用线性叠加原理求解船舶辐射与绕射问题, 构造出船舶在规则波浪中的运动数学模型, 并采用数值方法计算WigleyⅠ型船舶和S60型船舶以Froude数为0.2迎波浪航行时的水动力系数、波浪激励力与运动时间历程。计算结果表明: 由于不规则频率的影响, 当量纲一频率为1.7时, WigleyⅠ型船舶的垂荡附加质量计算结果比试验结果小44%, 当量纲一频率为2.5时, S60型船舶的纵摇阻尼系数计算结果比试验结果小43%;随着入射波频率的增加, WigleyⅠ型船舶和S60型船舶的水动力系数和波浪激励力的大部分计算结果与试验结果的相对误差小于30%, 且二者的变化趋势一致; 对于WigleyⅠ型船舶, 当波长与船长比为1.25时, 采用三维时域方法计算的垂荡幅值响应因子和纵摇幅值响应因子分别比试验值小11.3%和4.8%, 采用三维频域方法计算的垂荡幅值响应因子比试验值大48.4%, 纵摇幅值响应因子比试验值小48.4%, 当波长与船长比为1.50时, 采用三维时域方法计算的垂荡幅值响应因子和纵摇幅值响应因子分别比试验值小3.0%和11.3%, 采用三维频域方法计算的垂荡幅值响应因子比试验值大9.8%, 纵摇幅值响应因子比试验值小23.6%。可见, 采用三维时域方法能准确地仿真船舶在波浪中的运动时间历程。      

风、浪、流荷载组合对跨海桥梁动力响应的影响

为研究跨海桥梁所受风、浪、流环境荷载及其组合影响,采用国际结构安全性联合委员会（JCSS）提出的组合模型将风浪流荷载进行组合,并考虑了风浪流要素之间的相关性,对于风浪相关性采用了耿贝尔联合概率模型,并通过风海流实现了水流与风场的联合. 以某跨海大桥为工程背景,分析了不同荷载组合对主梁动力响应的影响及其机理,并讨论了荷载组合中参与荷载时段和不同波浪场对计算结果的影响. 研究结果表明:风、浪、流荷载对主梁位移响应影响较大,以风为主要荷载的JCSS组合比以波浪和水流为主要荷载的JCSS组合跨中位移响应偏大20%～30%;随机波浪和桥梁横向基阶模态对跨中横向响应贡献显著;主梁不同位置的位移响应受同一环境要素的影响程度不同,主跨跨中响应主要受风荷载的影响,塔梁结合处主梁响应主要受波浪荷载的影响;波浪场采用规则波模拟会低估主梁跨中位移响应.      

Application of method of fundamental solutions in solving potential flow problems for ship motion prediction

A novel panel-free approach based on the method of fundamental solutions (MFS) is proposed to solve the potential flow for predicting ship motion responses in the frequency domain according to strip theory. Compared with the conventional boundary element method (BEM), MFS is a desingularized, panel-free and integration-free approach. As a result, it is mathematically simple and easy for programming. The velocity potential is described by radial basis function (RBF) approximations and any degree of continuity of the velocity potential gradient can be obtained. Desingularization is achieved through collating singularities on a pseudo boundary outside the real fluid domain. Practical implementation and numerical characteristics of the MFS for solving the potential flow problem concerning ship hydrodynamics are elaborated through the computation of a 2D rectangular section. Then, the current method is further integrated with frequency domain strip theory to predict the heave and pitch responses of a containership and a very large crude carrier (VLCC) in regular head waves. The results of both ships agree well with the 3D frequency domain panel method and experimental data. Thus, the correctness and usefulness of the proposed approach are proved. We hope that this paper will serve as a motivation for other researchers to apply the MFS to various challenging problems in the field of ship hydrodynamics.     

带有干扰观测器的欠驱动船舶路径跟踪非线性模型预测控制

针对欠驱动船舶提出了一种非线性路径跟踪控制器,使其能够在风、浪、流等环境干扰下驶入预定的航行路径.欠驱动船舶以恒定前进速度航行,并且其合速度与参考轨迹相切.该控制器的设计使用了解析模型预测控制和干扰观测器技术,其中非线性观测器用来估计环境干扰.在最优路径跟踪控制器的作用下,路径跟踪误差渐近收敛到零.数值仿真结果验证了该控制器的有效性.     

基于LES的跨海桥梁施工期围堰波流力数值模拟

跨海大桥基础施工可能面临水深、浪大和流急等恶劣海况，波流力甚至可能成为围堰施工的主要控制荷载. 为研究跨海桥梁施工期围堰波流力，采用垂向多层σ坐标变换模型追踪三维波流自由液面，添加浸没边界法（IBM）处理不规则结构物界面，建立了基于LES的三维波流与结构物相互作用的数值模型，利用所建立并验证的三维数值模型模拟不同长宽比的矩形围堰与斜向波流的相互作用. 分析结果表明:所建立的三维数值模型能够较好地模拟矩形结构波流力；长宽比为1.0时，由于结构的对称性，波流入射角对围堰总波流力影响很小，增幅均在5%以内；随着长宽比的增加，波流入射角对围堰总波流力的影响增大；如长宽比为2.0时，波流沿纵桥向入射时（90°）结构的总波流力约为沿横桥向入射时（0°）总波流力的2.48倍. 与纯波情况相比，矩形围堰波流力普遍比纯波力偏大，但入射角对结构纯波力或波流力的影响系数较为接近.      

Model testing for ship hydroelasticity: A review and future trends

Conducting model experiments is an effective and reliable way in the investigation of ship hydrodynamic and hydroelastic behaviors. A survey of model testing techniques for ship hydroelasticity and its prospect are presented in this paper. The research highlights with respect to ship hydroelasticity and key points in model testing are summarized at first. Then testing techniques including laboratory tank test and full-scale sea trial are reviewed, and both their advantages and disadvantages are analyzed comprehensively. Based on the conventional testing approaches, a state-of-the-art testing approach which includes performing tests using large-scale model at sea is proposed. Furthermore, recommendations towards the further development of ship hydroelasticity tests are forecasted and discussed.     

船与刚性桥墩的碰撞性能分析

运用非线性有限元基本理论，采用国际上广泛使用的大型结构分析程序LS—DYNA，建立了船舶、刚性桥墩的三维有限元计算模型．分析了碰撞力的大小、船首及构件的损伤和吸能特性，并与经验公式计算结果进行了比较，得出了有关船撞力大小和分布规律的结论．     

船舶进出港低速航向保持

为了在船舶进出港时,船舶处于浅水域并以低速航行,在风、浪等强扰动作用下,增强航向控制性能,减小能源损耗,选择三阶Nomoto模型,将航速和水深变化反映到模型参数的变化上,基于闭环增益成形算法设计出一种具有适应性的鲁棒PID控制器,建立基于风、浪干扰的非线性船舶运动数学模型,并用S函数来实现。用PID控制器对非线性船舶运动数学模型进行控制,在Simulink环境中对各种水深、船速及海况进行航向控制仿真。从仿真曲线可看出其航向跟踪效果良好,静差为0,且施舵合理,所设计的控制器对非线性船舶运动数学模型具有良好的控制性能。     

基于大风浪影响的船舶安全通航水深计算方法

船舶安全通航水深是港口工程及受限水域船舶航线选择的重要参数,该参数的确定一般是基于《海港总平面设计规范》中的计算公式进行的,计算中要考虑的影响因素很多,其中波浪因素不仅影响最大,而且其不确定性也最大（主要是风对波浪的影响）。在考虑波浪影响时,《海港总平面设计规范》中的计算公式中没有将安全通航水深的富余值与实时风力联系起来。通过将一种成熟的海面风速与浪高的数学模型与《海港总平面设计规范》中的计算方法相结合,提出一种基于实时风速的开阔海域船舶安全通航水深的计算方法．对于船舶安全通航具有重大意义。     

规则波中船舶运动六自由度数学模型

为了提高船舶操纵模拟器的精度,应用船舶操纵性分离建模理论,基于傅汝德-克雷诺夫假设,将船舶近似为箱型船,估算波浪对船舶六自由度运动的干扰力与力矩,并将波浪的干扰力与力矩作为外力与力矩的一部分,叠加到分离型船舶运动数学模型中,建立了船舶在规则波作用下六自由度船舶运动的数学模型,给出5级海况下船舶全速旋回运动响应的时间历程仿真曲线.仿真结果显示:仿真结果与相关文献结果相近,运动趋势一致,能够满足大型船舶操纵模拟器对船舶运动数学模型仿真的精度要求,同时船舶运动数学模型由3自由度增至6自由度,提高了模拟的逼真度.     

规则波中船舶复原力变化计算

基于切片理论,利用3个坐标系之间的转换关系,建立了任意规则波中重力与浮力平衡及纵倾力矩为零的瞬时静平衡方程,提出了任意规则波中船体各横剖面左右舷与波面一组或多组交点的求法及各浸水剖面面积的通用计算法;基于Froude-Krylov假说研究了规则波中船舶的复原力变化.通过对一艘油船的各种瞬时状态的计算,得到波浪中船舶的复原力变化特性.计算结果表明船-波相对位置是影响波浪中复原力变化的一个至关重要因素,且波浪中船舶复原力在横倾大角度时表现出明显的非线性.     

移动荷载与土体中孔洞相互作用的2.5D边界元法分析

为了研究具有复杂表面的饱和土体与移动荷载相互作用机理,根据饱和土Biot理论,采用Fourier变换和势函数分解法,推导了饱和土体频域-波数内的Green函数;建立了移动荷载作用下,饱和土体中孔洞动力响应的频域-波数域内边界元法方程(2.5D boundary element methods);利用快速Fourier逆变换法,得到了时间-空间域内饱和土体的动力响应.研究结果表明:在频域内,利用移动荷载方向的一致性建立的频域-波数域内边界积分方程,可将3D空间问题转化为频域-波数域的2D平面问题, 3D边界元简化为2D边界元,使得计算面转换为计算线,减小了计算规模.      

三维滑坡涌浪的产生及其传播过程的数值研究

从Navier-Stokes方程出发,采用VOF法追踪自由液面,基于流体计算软件FLOW3D,模拟宽广水域内滑块下滑所引起的涌浪及其传播过程,将数值结果与实验结果进行对比可知,计算值与实验值吻合较好．在此基础上,研究了涌浪产生时相同角度不同半径和相同半径不同角度测点位置的波高;并对涌浪产生后水体的流场结构以及自由液面的变化过程进行了研究．研究结果表明,该数学模型具有较高的精度和适应性,能较好地模拟滑坡崩落所导致的涌浪现象,对水库大坝设计及滑坡涌浪灾害预防具有一定的参考价值．