Hinge joint damage identification method of soft yoke mooring system based on multibody dynamic modeling and structural monitoring data

Soft yoke mooring system (SYMs) is a single-point mooring system used in shallow water oil and gas development. In general, SYMs consists of mooring framework support, mooring legs, yoke, and single-point turret and it forms a multibody dynamic system with 13 hinge joint structures such as universal joints and thrust bearings. The hinge joint is one of the key components of SYMs; therefore, it is necessary to accurately evaluate the operating behavior of the hinge joints. In this study, real-time damage identification is conducted based on the multibody dynamic features of the SYMs. First, a long-term monitoring strategy for the prototype application is developed based on the multibody governing equations of the SYMs. The motion behaviors and stress state of the hinge joints and bodies are calculated using prototype monitoring data. A hinge joint damage identification based on the virtual moment is proposed by considering the changes in the friction coefficient in the damage state. The virtual moment method is used to transform the damage identification problem of the SYMs into a problem of seeking the optimal solution to the dynamics identification function. Genetic algorithm (GA) is implemented to seek the optimal solution of the friction coefficient of each hinge joint. A large-scale model testing system of the SYMs is established to perform the damage identification of the bottom hinge joints of the SYMs. The results show that the proposed method can effectively identify the damage degree and position of the hinge joints of the SYMs and provide a real-time warning system for the in-service operation of the SYMs.     

门式起重机虚拟样机建模与动力学仿真

研究了门式起重机动力学虚拟样机的建模方法,根据刚性体部件、柔性体部件和钢丝绳的特点,分别给出了不同的建模方法。通过对起升工况和大车运行工况进行动力学仿真,得到了整机的位移时间历程、动应力以及各连接件之间的作用力等,较真实地反映了门式起重机在作业过程中的动态特性。     

Optimal scheduling of block lifting in consideration of the minimization of traveling distance while unloaded and wire and shackle replacement of a gantry crane

Nowadays, shipyards are making every effort to efficiently manage their resources such as gantry cranes, transporters, and block stock yards. The scheduling of block lifting for a gantry crane has been manually performed by an expert shipyard manager for many years. Such a practice, however, can lead to an undesirably long time to produce scheduling plans. In addition, the quality of the scheduling plans may not be optimal. To improve the overall process, a block lifting scheduling system for a gantry crane was developed in this study by using optimization techniques. A block lifting scheduling problem was first formulated as a multiobjective optimization problem. For a gantry crane, minimization of the traveling distance while unloaded and wire and shackle replacement between block lifting was considered. An optimization algorithm based on the genetic algorithm was then proposed and implemented so as to solve the problem. To evaluate the efficiency and applicability of the developed system, the system was applied to an actual block lifting scheduling problem in a shipyard. Compared to results achieved by manual scheduling by an expert manager, the results of this work show that blocks can be more efficiently lifted by a gantry crane when the developed system is applied.     

尼龙块型及自润滑铜块型提升架结构导向滑块的对比分析

通过对以尼龙块为导向的提升架结构计算分析发现,尼龙块和螺栓在受到外力时均产生较大的变形,应力超过其许用值;提出了采用自润滑铜块代替尼龙的方案,同时增大所用螺栓的规格,分析表明自润滑铜块和螺栓的强度及变形均满足要求,现场试验结果与理论分析一致,试验表明自润滑铜块能够确保滑板提升结构使用的可靠性。     

负荷突降工况柴油机曲轴应力多柔体动力学分析

通过仿真试验对负荷突降和转速上升2种工况下曲柄销中心和主轴颈中心处的应力情况进行定量分析,并对应力图谱进行分析。利用Pro E软件对柴油机运动部件进行三维建模,并对其进行组装配置。基于有限元软件ANSYS建立曲轴的三维模型,对曲轴的模态进行分析,进而形成曲轴的多体动力学模型。利用ADAMS平台建立柴油机运动模型,通过施加约束、运动和载荷,最终形成柴油机的虚拟样机试验平台,得到相应工况下的应力图谱,并加以分析。     

圆筒型FPSO上部模块支撑结构疲劳分析

与船型FPSO相比,圆筒型FPSO没有明显的总纵弯曲,上部模块与船体结构之间通常采用刚性支墩来连接,水平运动所产生的弯矩和装/卸载引起的船体垂向变形对模块支撑结构的影响较为显著。因此,以“希望6号”圆筒型FPSO上部模块支撑结构为研究对象,基于DNVGL船级社规范,介绍一种简化疲劳分析方法。以FPSO运动加速度和船体变形载荷作为载荷输入条件,利用SESAM/GeniE软件进行有限元分析,得到结构在所有组合工况下应力的扫描计算结果。根据作业海域各个方向波浪发生的概率,运用简化疲劳分析方法计算得到所关注节点的疲劳损伤和各个工况对结构节点疲劳损伤度的贡献。结果表明,所关注节点的疲劳强度均满足设计疲劳强度要求;同一节点的疲劳损伤对不同浪向的敏感度不一样。该简化疲劳分析方法同样适用于承受周期性载荷的FPSO上部模块主结构和其他型式海洋结构物的疲劳分析。     

重力式方块码头的抗震动力性能分析

以抗震性能相对较差的带有卸荷板的重力式方块码头为研究对象,首先对其在静力荷载作用下的变形和等效应力及稳定性进行了初步分析,然后对其在规范拟静力地震作用下和基于动力时程的强震记录下的水平地震惯性力、水平和竖向变形、最大等效应力、抗滑移和抗倾覆稳定性进行了对比分析。结果表明强震作用下除了码头的抗倾覆和抗滑移验算外,对结构的水平残余变形和竖向沉降变形同样要给予密切的关注,按当前规范给出的标准进行抗震设计,罕遇地震下会存在一定的风险。     

Effects of structural flexibility on the dynamic responses of low-height lifting mechanism for offshore wind turbine installation

Installation complexities are one of the major challenges in the floating offshore wind turbine (OWT) industry. The modern concept introduced by the SFI-MOVE project is an effort to overcome the complexities by utilizing a low-height lifting mechanism. It is common to idealize a crane in the lifting mechanism as a rigid body since the structural deflections are smaller than the responses introduced by the other system components. However, structural flexibility can play an essential role in demanding offshore operations with smaller acceptable tolerances. In this study, lifting cranes are modeled using the finite element method and simplified by implementing equivalent 3D beam elements. Dynamic analysis is performed for various environmental conditions, and the responses of the crane structure and the OWT are calculated for each load case. This research reveals that crane structure flexibility influences the relative motion between a floating spar buoy and an OWT during mating operations. Crane structural flexibility contributes significantly to the OWT rotations. In addition, the response deviation between using rigid and flexible cranes increases as the excitation force increases. Therefore, it is recommended to consider the crane structural flexibility in the calculation when strict installation tolerances are needed.     

Application of analytical model in the prediction of dynamic responses and fatigue damage of flexible risers: Part II – Dynamic analysis of flexible risers in large-scale domain using a direct moment correction method

In recent years, the dynamic responses of flexible risers have been the focus of many researchers. Most flexible risers undergo a substantial level of irregular motion from environmental loadings, which involves a continuous slip of helical wires. The slip of helical wires especially leads to a hysteretic effect by reducing the bending stiffness, making it hard to predict the dynamic responses of flexible risers. The current study, as an extension to Part I, presents a new large-scale dynamic analysis method for flexible risers. The suggested method creates a large-scale model for the dynamic analysis that considers a geometric and bending nonlinearity of flexible risers. The kinematics of each beam element is formulated based on a Green-Lagrangian strain and the interaction with the seabed, providing a realistic analysis of flexible risers. In particular, the current study introduces a direct moment correction method that modifies the internal force vector using an improved analytical model. The improved analytical model is assigned at each node of the large-scale model and estimates an accurate bending hysteresis curve considering the effect of shear deformation and varying tension. The suggested method corrects the bending moment and shear force of all beam elements based on the bending hysteresis curves obtained from the improved analytical model, by which a complex bending behavior of flexible risers is reflected in a large-scale domain. As a result, this study achieves a more accurate prediction of the dynamic responses and fatigue damage of flexible risers. A new dynamic analysis program, called OPFLEX, is developed herein based on the suggested analysis method. Using the developed program, the current study conducts several numerical investigations to identify the effect of the shear deformation and varying tension. Consequently, it is confirmed that the shear deformation of internal layers reduces the fatigue damage of helical wires by delaying the increase of internal stress. It is also identified that the effect of varying tension deteriorates the fatigue life of flexible risers through a continuous change of contact pressure during bending.     

大型上建总段双车联吊工艺研究

针对某9 400 TEU集装箱船大型上建总段因结构尺寸和质量超过单台龙门起重机的起吊极限这一问题,根据上建总段的结构特点,结合船厂设备设施的条件,提出双车联吊工艺方案。采用船体吊装模拟分析软件对上建总段吊装过程进行模拟仿真,计算双车联吊工艺条件下船体结构的变形和受力情况,完成吊装方案的校验,从而保证该上建总段的顺利吊装。     

增加海上风电安装船起吊高度的起重机设计方法研究

为了增加船用起重机的起吊高度,采取增加起重机吊臂长度的措施来实现。本文以460t海上风电吊装运输专用船起重机为例,在其原有四节吊臂架起重机的基础上设计出五节吊臂架起重机,利用有限元分析对其进行校核设计,协同调节吊臂及人字架结构参数以满足各种工况下的工作性能,重点在于合理构建起重机的有限元模型,其中首次运用带有预紧力的弹簧单元模拟人字架端部滑轮组和吊臂背部滑轮组之间的钢丝绳连接作用,进行设计对比分析,修正五节臂架起重机的吊臂和人字架结构参数以实现其轻量化。     

Stress magnification effect of initial deformation on the notch stress field and fatigue strength of thin plate welded joints

Compared with thick plate welded joint, the welding joint of thin plate will produce initial deformation due to its low bending rigidity. The existence of initial deformation will cause the welded structure to produce secondary bending effect, which will produce greater stress magnification effect at the weld toe and seriously affect the fatigue strength of thin plate welded joints. Therefore, based on the correction formula of thick plate, considering the influence of initial deformation and geometric nonlinearity of thin plate, this paper deduces the stress magnification factor formula at the weld toe of T-shaped and cruciform specimens. The accuracy of the revised formula is further verified by comparing the notch stress calculated by the modified formula with the FE results. Finally, the modified formula is applied to the notch stress and fatigue evaluation of typical thin plate welded joints respectively. The results show that the proposed notch stress calculation formula can fully consider the stress amplification effect of thin plate structure, and can be used to quickly evaluate the notch stress field and fatigue strength of thin plate welded joints.     

Planar multibody dynamics of floating Y-method installation system and the lowering of subsea equipment based on finite element modeling

The subsea equipment installation is a complex operation that demands a precise and reliable approach to avoid the accidental losses of lives and equipment damage. The multibody installation system is overwhelmed with the dynamic behavior and responses of the system, which signifies the importance of analysis of the Multibody Dynamic System (MBDS). The modeling of MBDS is challenging and complicated due to the interconnectivity and nonlinearity assigned to them. In this paper, the planar dynamics of a floating multibody system are attained by employing two tugboats and a payload with a contextual offshore installation scenario to be applied in a water depth of over 1500 m. The lifting operation is nine degrees of freedom (9-DOF) multibody model done with the help of two strands and three bodies having 3-DOF each. The coupled equations of motion are established by deploying the Velocity Transformation Technique. The hydrodynamic and two-strand forces are simplified as linear, while the hydrostatic and mooring forces are treated as nonlinear external loads. The numerical solution to the equations for the MBDS is obtained from the Runge Kutta Method of Fourth-Order. Furthermore, the Finite Element Modeling approach discusses the installation operation using Y-method. The results of the proposed numerical model are validated by comparing it with the numerical simulation from OrcaFlex, and the results from both models are found to be in good agreement. The findings of this study will help improve the safe and stable installation of deep-water multibody structures.     

基于数值仿真的大型薄甲板总段吊装方案设计优化

根据产品实际及风险控制需求，结合大型薄甲板总段结构特点、门式起重机起吊能力和吊码布置与加强方案，建立有限元模型。应用数值仿真技术，模拟吊排、吊码和总段起吊过程，预报结构应力分布及变形情况。根据预报结果，合理优化吊装与加强方案，为今后类似结构的吊装方案设计及计算仿真提供一定指导作用。     

油船货油软管吊基座加强结构设计

针对大吨位油船货油软管吊基座加强结构受力及基座加强形式的适用性问题,以一型冰区阿芙拉油船为研究对象,通过有限元建模分析、校核在不同工况下主甲板上的货油软管吊的基座加强方案是否满足规范标准,并根据计算结果对其结构设计提出改进方案,应力分析结果显示,软管吊的基座结构经二次优化后受到的正应力和剪切应力均大幅下降,这种基座加强...     

On the fluid-structure response of elastic-plastic ship sides subjected to impact loads

This paper presents a simplified numerical model capable of analysing the interaction between the structural dynamic response of elastic-plastic struck plate wall of a fluid tank subjected to wedge impact and the resulting fluid motion. The Variational Finite Difference Method (VFDM) is applied to analyse the structural dynamics of the struck plate and 2-D linear potential flow theory is used to study the resulting fluid motion and its effects on the structural dynamics of the struck plate. Experiments of a wedge indenter impacting with both empty and 90% filled tanks are carried out to study the structural deformation of the struck plate. The accuracy of the developed numerical model is validated with published results and experimental results, and good agreement is achieved. Through the comparison of the impact behaviour of empty and partially filled water tank, it is found that the resulting water motion helps to reduce the structural deformation of the struck plate since part of the impact energy is dissipated by the resulting water motion. Parametric studies are performed to investigate the effect of impact velocity and water level on the structural dynamics of the struck plate of a partially filled water tank. A case study is also conducted to demonstrate the potential application of the proposed method in analysing ship-ice impact problems.     

Prediction and mitigation of out-of-plane welding distortion of a typical block in fabrication of a semi-submersible lifting and disassembly platform

Out-of-plane welding distortions of block structures during fabrication of offshore structure will significantly influence its dimensional accuracy and production schedule. Taking a B514 block of a semi-submersible lifting and disassembly platform as research object, typical welded joints and their welding conditions were summarized based on actual welding procedure specification (WPS). Effective thermal elastic plastic (TEP) finite element (FE) analysis with parallel computation technology was carried out to examine thermal-mechanical response. Welding inherent deformations, which are considered as the elementary cause of welding distortion, were then evaluated. With welding inherent deformations as mechanical loading, elastic finite element (FE) analysis was then employed to predict dimensional accuracy of examined B514 block, which has a good agreement with measurement data. In order to ensure the fabrication accuracy with less out-of-plane welding distortion, inverse deformation approach was applied to reduce the out-of-plane welding distortion, and influence of welding sequence on out-of-plane welding distortion was also examined. Both mitigation practices have obvious effect on dimensional accuracy of examined B514 block, while corresponding mechanical mechanisms were also clarified.     

7500t浮吊海浪激励下的谐响应分析

应用有限元软件ANSYS建立500t浮吊三维计算模型,以规则海浪载荷作用下船舶摇荡运动加速度作为基础激励,采用谐响应分析方法计算起吊7500t载荷时浮吊在海浪作用下的动力响应。计算结果表明,海浪方向为90°时浮吊动力响应比较大;吊重起升至比较高位置时,浮吊动力响应比较大;因船舶横摇大于纵摇,故浮吊的横向位移大于纵向和垂向位移,钢丝绳吊重横向摆角大于纵向摆角;臂架的最大动应力出现在根部主弦杆处,海浪载荷引起的浮吊结构动应力小于材料屈服强度。     

造船分段无余量合拢挂装工艺初探

造船分段无余量合拢挂装工艺,把待合拢分段挂装在已经完成的分段上,使挂件、支撑件承载60％至70％待合拢分段的重量,消除了90％以上因吊装产生的弹性变形,实现了造船分段无余量合拢.该工艺比传统工艺提高工效1倍以上,使造船在坞合拢时间缩短53天,使年出船艘数增加30％,并较大的降低了生产成本.     

基于固有应变法的环肋圆柱壳焊接残余应力数值分析

环肋圆柱壳是水下装备的主要承压部件,通常采用高强钢进行建造,对焊接残余应力等缺陷较敏感.为了得到不同肋骨布置方式下的焊接残余应力分布情况,首先采用试验和数值模拟的方法研究了高强钢焊接试板残余应力分布情况,验证了固有应变近似公式的适用性;然后,基于固有应变法针对内置、外置T型肋骨的圆柱壳的焊接残余应力进行数值分析,结果表明:两者壳板径向变形与实测资料较为一致,内置肋骨时,跨中壳板内凹,反之外凸;残余应力主要分布于焊缝部位,跨中壳板呈现压应力,内置肋骨的压应力要略大一些.