| 铺管船定位作业时的建模与分析 |
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| 引用本文： | 谢文博,付明玉,陈翠和,黄福祥.铺管船定位作业时的建模与分析[J].中国造船,2011(3). |
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| 作者姓名： | 谢文博 付明玉 陈翠和 黄福祥 |
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| 作者单位： | 哈尔滨工程大学自动化学院;海洋石油工程股份有限公司设计公司; |
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| 基金项目： | 国家科技重大专项资助课题(2008ZX05027-002-004) |
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| 摘 要： | 建立了J型半潜式铺管起重船非线性船舶运动数学模型和环境模型。采用自然悬链线法得到管道对船舶的近似动态水平作用力模型,给出了随着船体运动管道受到的作用力和管道形状的变化。针对铺管作业时张紧器和管道间的恒张力问题设计了控制器,控制器限制了船舶的运动和管道作用力的变化率,从而使管道和张紧器之间不会出现滑动,保证了铺管作业的安全性。
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| 关 键 词： | 船舶、舰船工程 船舶数学模型 J型铺管 动力定位 悬链线 |
Modelling and Control of J-Lay Vessel during Positioning Operation |
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| XIE Wenbo,FU Mingyu,CHEN Cuie,WANG Fuxiang.Modelling and Control of J-Lay Vessel during Positioning Operation[J].Shipbuilding of China,2011(3). |
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| Authors: | XIE Wenbo FU Mingyu CHEN Cuie WANG Fuxiang |
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| Institution: | XIE Wenbo,FU Mingyu,CHEN Cuie,WANG Fuxiang(1.College of Automation,Harbin Engineering University,Harbin Heilongjiang 150001,China,2.China Offshore Oil Engineering Co.,Ltd.,Tianjin 300451,China) |
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| Abstract: | Nonlinear mathematical vessel model and environmental model are developed for a semi-submersible pipelay and crane vessel during J-lay operation.The natural catenary method is adopted to calculate the quasi-dynamic horizontal force that the pipe acts on the ship.Change of force acting on the pipe and the pipe shape are given.The controller is designed for the constant tension between tensioner and pipeline.It indicates that the controller can limit the pipe tension in a slowly varying state,so that the pipe... |
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| Keywords: | ship engineering ship mathematical model J-lay dynamic positioning catenary |
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