Design and research on a variable ballast system for deep-sea manned submersibles

Variable ballast systems are necessary for manned submersibles to adjust their buoyancy.In this paper,the design of a variable ballast system for a manned submersible is described.The variable ballast system uses a super high pressure hydraulic seawater system.A super high pressure seawater pump and a deep-sea brushless DC motor are used to pump seawater into or from the variable ballast tank,increasing or decreasing the weight of the manned submersible.A magnetostrictive linear displacement transducer can detect the seawater level in the variable ballast tank.Some seawater valves are used to control pumping direction and control on-off states.The design and testing procedure for the valves is described.Finally,the future development of variable ballast systems and seawater hydraulic systems is projected.     

Design and research on a variable ballast system for deep-sea manned submersibles

Variable ballast systems are necessary for manned submersibles to adjust their buoyancy. In this paper, the design of a variable ballast system for a manned submersible is described. The variable ballast system uses a super high pressure hydraulic seawater system. A super high pressure seawater pump and a deep-sea brushless DC motor are used to pump seawater into or from the variable ballast tank, increasing or decreasing the weight of the manned submersible. A magnetostrictive linear displacement transducer can detect the seawater level in the variable ballast tank. Some seawater valves are used to control pumping direction and control on-off states. The design and testing procedure for the valves is described. Finally, the future development of variable ballast systems and seawater hydraulic systems is projected.     

Exciting forces for a wave energy device consisting of a pair of coaxial cylinders in water of finite depth

Two coaxial vertical cylinders-one is a riding hollow cylinder and the other a solid cylinder of greater radius at some distance above an impermeable horizontal bottom,were considered.This problem of diffraction by these two cylinders,which were considered as idealization of a buoy and a circular plate,can be considered as a wave energy device.The wave energy that is created and transferred by this device can be appropriately used in many applications in lieu of conventional energy.Method of separation of variables was used to obtain the analytical expressions for the diffracted potentials in four clearly identified regions.By applying the appropriate matching conditions along the three virtual boundaries between the regions,a system of linear equations was obtained,which was solved for the unknown coefficients.The potentials allowed us to obtain the exciting forces acting on both cylinders.Sets of exciting forces were obtained for different radii of the cylinders and for different gaps between the cylinders.It was observed that changes in radius and the gap had significant effect on the forces.It was found that mostly the exciting forces were significant only at lower frequencies.The exciting forces almost vanished at higher frequencies.The problem was also investigated for the base case of no plate arrangement,i.e.,the case having only the floating cylinder tethered to the sea-bed.Comparison of forces for both arrangements was carried out.In order to take care of the radiation of the cylinders due to surge motion,the corresponding added mass and the damping coefficients for both cylinders were also computed.All the results were depicted graphically and compared with available results.     

Research and development of a digital design system for hull structures

Methods used for digital ship design were studied and formed the basis of a proposed frame model suitable for ship construction modeling. Based on 3-D modeling software, a digital design system for hull structures was developed. Basic software systems for modeling, modifying, and assembly simulation were developed. The system has good compatibility, and models created by it can be saved in different 3-D file formats, and 2D engineering drawings can be output directly. The model can be modified dynamically, overcoming the necessity of repeated modifications during hull structural design. Through operations such as model construction, intervention inspection, and collision detection, problems can be identified and modified during the hull structural design stage. Technologies for centralized control of the system, database management, and 3-D digital design are integrated into this digital model in the preliminary design stage of shipbuilding.     

Profile of China Ship Development and Design Center （CSDDC）

China Ship Development and Design Center （CSDDC） is one of the leading institutes engaged in the development and overall design of ships, submersibles and marine structures. With a history of over forty years, CSDDC has made great efforts to import and incorporate international advanced technologies and adapt them to its own actual projects. This enables CSDDC to remain the leading position in ship overall design in China. Over the past forty years, CSDDC has successfully accomplished many national key projects, and made significant contributions to the modernization of China defense and built up a reputation of ＂Cradle of China naval ships＂.     

SAW焊接型剖面预报的模糊逻辑系统开发(英文)

A fuzzy model was presented to predict the weldment shape profile of submerged arc welds(SAW) including the shape of heat affected zone(HAZ).The SAW bead-on-plates were welded by following a full factorial design matrix.The design matrix consisted of three levels of input welding process parameters.The welds were cross-sectioned and etched,and the zones were measured.A mapping technique was used to measure the various segments of the weld zones.These mapped zones were used to build a fuzzy logic model.The membership functions of the fuzzy model were chosen for the accurate prediction of the weld zone.The fuzzy model was further tested for a set of test case data.The weld zone predicted by the fuzzy logic model was compared with the experimentally obtained shape profiles and close agreement between the two was noted.The mapping technique developed for the weld zones and the fuzzy logic model can be used for on-line control of the SAW process.From the SAW fuzzy logic model an estimation of the fusion and HAZ can also be developed.     

状态空间的船体平直分段装配的偏差诊断和分析(英文)

Dimensional control is one of the most important challenges in the shipbuilding industry.In order to predict assembly dimensional variation in hull flat block construction,a variation stream model based on state space was presented in this paper which can be further applied to accuracy control in shipbuilding.Part accumulative error,locating error,and welding deformation were taken into consideration in this model,and variation propagation mechanisms and the accumulative rule in the assembly process were analyzed.Then,a model was developed to describe the variation propagation throughout the assembly process.Finally,an example of flat block construction from an actual shipyard was given.The result shows that this method is effective and useful.     

Crack detection using a frequency response function in offshore platforms

Structural cracks can change the frequency response function (FRF) of an offshore platform. Thus, FRF shifts can be used to detect cracks. When a crack at a specific location and magnitude occurs in an offshore structure, changes in the FRF can be measured. In this way, shifts in FRF can be used to detect cracks. An experimental model was constructed to verify the FRF method. The relationship between FRF and cracks was found to be non-linear. The effect of multiple cracks on FRF was analyzed, and the shift due to multiple cracks was found to be much more than the summation of FRF shifts due to each of the cracks. Then the effects of noise and changes in the mass of the jacket on FRF were evaluated. The results show that significant damage to a beam can be detected by dramatic changes in the FRF, even when 10% random noise exists. FRF can also be used to approximately locate the breakage, but it can neither be efficiently used to predict the location of breakage nor the existence of small hairline cracks. The FRF shift caused by a 7% mass change is much less than the FRF shift caused by the breakage of any beam, but is larger than that caused by any early cracks.     

空泡闭合区压力特性试验研究(英文)

The most complicated component in cavitating flow and pressure distribution is the flow in the cavity closure line. The cavitating flow and pressure distribution provide critical aspects of flow field details in the region. The integral of pressure results of the hydrodynamic forces, indicate domination in the design of a supercavitating vehicle. An experiment was performed in a water tunnel to investigate the pressure characteristics of the cavity closure region. Ventilation methods were employed to generate artificial cavity, and the ventilation rate was adjusted accordingly to obtain the desired cavity length. An array of pressure transducers was laid down the cavity closure line to capture pressure distribution in this region. The experimental results show that there is a pressure peak in the cavity closure region, and the rise rate of pressure in space tends to be higher in the upwind side when the flow is non-axisymmetric. The transient pressure variations during the cavity formation procedure were also present. The method of measurement in this paper can be referenced by engineers. The result helps to study the flow pattern of cavity closure region, and it can also be used to analyze the formation of supercavitating vehicle hydrodynamics.     

Profile of China Ship Development and Design Center （CSDDC）

China Ship Development and Design Center (CSDDC) is one of the leading institutes engaged in the development and overall design of ships,submersibles and marine structures.With a history of over forty years,CSDDC has made great efforts to import and incorporate international advanced technologies and adapt them to its own actual projects.     

漂浮式潮流电站系泊系统疲劳性能预报(英文)

As a kind of clean and renewable energy,tidal current energy is becoming increasingly popular all over the world with the shortage of energy and environmental problems becoming more and more severe.A floating tidal current power station is a typical type of tidal current power transformers which can sustain the loads of wind,waves,and current,and even the extreme situation of a typhoon.Therefore,the mooring system must be reliable enough to keep the station operating normally and to survive in extreme situations.The power station examined in this paper was installed at a depth of 40 m.A 44 mm-diameter R4-RQ4 chain was chosen,with a 2 147 kN minimum break strength and 50 kN pretension.Common studless link chain was used in this paper.Based on the Miner fatigue cumulative damage rule,S-N curves of chains,and MOSES software,a highly reliable mooring system was designed and analyzed.The calculation results show that the mooring system designed is reliable throughout a 10-year period.It can completely meet the design requirements of American Petroleum institution(API).Therefore,the presented research is significant for advancing the design of this kind of power station.     

Wave load computation in direct strength analysis of semi-submersible platform structures

A wave load computation approach in direct strength analysis of semi-submersible platform structures was presented in this paper. Considering the differences in shape of pontoon, column and beam, the combination of accumulative chord length cubic parameter spline theory and analytic method was adopted for generating the wet surface mesh of platform. The hydrodynamic coefficients of platform were calculated by the three-dimensional potential flow theory of the linear hydrodynamic problem for platform with low forward speed. The equation of platform motions was established and solved in frequency domain, and the responses of wave-induced loads on the platform can be obtained. With the interpolation method being utilized, the pressure loads on shell elements for finite element analysis(FEA) were converted from those on the hydrodynamic computation mesh, which pave the basis for FEA with commercial software. A computer program based on this method has been developed ,and a calculation example of semi-submersible platform was illustrated. Analysis results show that this method is a satisfying approach of wave loads computation for this kind of platform.     

静水中高速双体船气动、水动力学效应的数值和实验研究（英文）

In this paper, the effect of water and air fluids on the behavior of a planing catamaran in calm water was studied separately in calm water by using experimental and numerical methods. Experiments were conducted in a towing tank over the Froude number range of 0.49–2.9 with two degrees of freedom. The model vessel displacement of 5.3 kg was implemented in experimental tests. Craft behavior was evaluated at the displacements of 5.3, 4.6, and 4 kg by using the numerical method. The numerical simul...     

带不确定动态的欠驱动水面船舶鲁棒自适应路径跟踪控制(英文)

A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path,despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise.The reference path can be a curve or a straight line.The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques.Because the sway axis of the vessel was not directly actuated,two sliding surfaces were introduced,the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors.The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors.Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels.     

Hydrodynamic comparison of a semi-submersible, TLP, and Spar: Numerical study in the South China Sea environment

The South China Sea contains tremendous oil and gas resources in deepwater areas. However, one of the keys for deepwater exploration, the investigation of deepwater floating platforms, is very inadequate. In this paper, the authors studied and compared the hydrodynamics and global motion behaviors of typical deepwater platforms in the South China Sea environment. The hydrodynamic models of three main types of floating platforms, e.g. the Semi-submersible, tension leg platform (TLP), and Truss Spar, which could potentially be utilized in the South China Sea, were established by using the 3-D potential theory. Additionally, some important considerations which significantly influence the hydrodynamics were given. The RAOs in frequency domains as well as global motions in time domains under time-varying wind, random waves, and current in 100-y, 10-y, and 1-y return period environment conditions were predicted, compared, and analyzed. The results indicate that the heave and especially the pitch motion of the TLP are favorable. The heave response of the Truss Spar is perfect and comparable with that of the TLP when the peak period of random waves is low. However, the pitch motion of Truss Spar is extraordinarily larger than that of Semi-submersible and TLP.     

The design of underwater hull-cleaning robot

The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed; meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.     

Collision analysis of the spar upper module docking

In order to assess the possible collision effect, a numerical simulation for the upper module and spar platlbrm docking at the speed of 0.2 m/s was conducted by using the software ANSYS/LS-DYNA, and the time history of the collision force, energy absorption and structural defonamtion during the collision was described. The purpose was to ensure that the platlbrm was safely put into operation. Furthermore, this paper analyzes different initial velocities and angles on the Von Mises stress and collision resultant force during the docking collision. The results of this paper showed that the docking could be conducted with higher security. The data in this paper can provide useful references for the determination of the upper module＇s offshore hoisting scheme and practical construction by contrasting the numerical simulation results of the parameters on the docking collision.     

新建半潜运输船在张力腿平台运输方面的应用研究(英文)

Transportation of tension leg platform(TLP) structures for a long distance has always been associated with the use of a heavy semi-transport vessel.The requirements of this type of vessel are always special,and their availability is limited.To prepare for the future development of South China Sea deepwater projects,the China Offshore Oil Engineering Corporation has recently built a heavy lift transport vessel-Hai Yang Shi You 278.This semi-submersible vessel has a displacement capacity of 50k DWT,and a breath of 42 meters.Understanding the vessel’s applicability and preparing it for use in future deepwater projects are becoming imminent needs.This paper reviews the current critical issues associated with TLP transportation and performs detailed analysis of the designed TLP during load-out and transportation.The newly built COOEC transportation vessel HYSY 278 was applied to dry transport of the TLP structure from the COOEC fabrication yard in Qingdao to an oil field in South China Sea.The entire process included the load-out of the TLP structure from the landsite of the fabrication yard,the offloading and float-on of the platform from the vessel,the dry transport of the TLP over a long distance,and the final offloading of the platform.Both hydrodynamic and structure analysis were performed to evaluate the behavior of the transport vessel and TLP structure.Special attention was paid to critical areas associated with the use of this new vessel,along with any potential limitations.The results demonstrate that HYSY 278 can effectively be used for transporting the structure with proper arrangement and well-prepared operation.The procedure and details were presented on the basis of the study results.Special attention was also given to discussion on future use based on the results from the analysis.     

弹性圆柱壳结构的有源结构声辐射控制研究

A numerical and experimental study was presented on active control of structurally radiated sound from an elastic cylindrical shell.An analytical model was developed for the active structural acoustic control (ASAC) of the cylindrical shell.Both global and local control strategies were considered.The optimal control forces corresponding to each control strategy were obtained by using the linear quadratic optimal control theory.Numerical simulations were performed to examine and analyze the control performance under different control strategies.The results show that global sound attenuation of the cylindrical shell at resonance frequencies can be achieved by using point force as the control input of the ASAC system.Better control performance can be obtained under the control strategy of minimization of the radiated sound power.However,control spillover may occur at off-resonance frequencies with the control strategy of structural kinetic energy minimization in terms of the radiated sound power.Considerable levels of global sound attenuation can also be achieved in the on-resonance cases with the local control strategy,i.e.,minimization of the mean-square velocity of finite discrete locations.An ASAC experiment using an FXLMS algorithm was implemented,agreement was observed between the numerical and experimental results,and successful attenuation of structural vibration and radiated sound was achieved.     

2万载重吨江海直达散货船节能装置开发（英文）

A reduction of fuel consumption and an increase in efficiency are currently required for river–sea bulk carriers. Pre-swirl and ducted stators are widely used devices in the industry and efficiency gains can be obtained for single-screw and twin-screw vessels. Based on the hydrodynamic characteristics of the 20,000 DWT river–sea bulk carrier, in this study, we proposed,designed, and tested a series of pre-swirl energy-saving devices(ESDs). The experimental results demonstrate that the proposed ESDs improved the propulsive efficiency and reduced the delivered power. The results confirm the success of our ESD for the20,000 DWT river–sea bulk carrier. We validated the role of Reynolds-averaged Navier–Stokes(RANS) computational fluid dynamics(CFD) in the twin-skeg river–sea vessel ESD design and found the circumferential arrangement and number of stators to be important factors in the design process.