动力定位作用下S型铺管作业耦合运动分析

文章建立了S型铺管船的船体、托管架和管线动态耦合模型。考虑了海浪、风和海流载荷作用下以及动力定位系统的控制下，分析时域内管道对船舶运动和受力特点的影响。主要包括：建立起重铺管船的动力定位运动模型，建立基于碰撞-接触原理的V型托辊和托管架模型，设计具有PID伺服系统的张紧器模型，提供连接托管架和船尾的非线性弹性铰接模型。进行时域动态模拟得到结果，通过与非铺管作业工况下的运动响应的对比表明，管线对船舶横摇运动影响较大，对纵摇和垂荡运动有一定程度的影响；管道对船舶纵荡、横荡和艏摇三个自由度上的受力影响极大。

Coupling Motion Analysis on a Dynamic-Positioning S-laying

This work focuses on analysis of motion and force of a numerical model considering the dynamic coupling among pipeline, stinger and vessel. Several simulations are conducted to verify the model and analyze the pipeline’s influence on vessel’s mechanical and kinematical characteristic. For a dynamic positioning S-lay vessel, a collision-contact surface contact algorithm is used to cal-culate the reacted force of V shape roller on the stinger;a model for the simulation of the tensioner behavior with a PID servo system is designed to effectively limit the pipeline top tension; a nonlin-ear elastic hinged joint is devised to link the stinger and the vessel. By conducting dynamic simula-tions in time domain and comparing the results achieved, it is concluded that pipeline affect vessel roll seriously while has little influence on heave and pitch; pipeline force and moment account for the majority of the total force and moment acted on vessel.