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。      

Dynamic Effect Research of Cable-Lead-In Rod on Towed System

This paper aims to research the cable-lead-in rod effect on a towed system through mathematical modeling and numerical simulations. The rod dynamics, as a key part of this study, is modeled using the combination of cable node governing equations and kinematic constraint conditions. As the first attempt to analyze such a problem, the rod is simply treated as an elastic cable segment so as to be incorporated into the dynamics of the cable, and a set of algorithm is then proposed based on the kinematic constraint conditions to fully describe its motions. Meanwhile, the cable and the underwater vehicle are modeled by the traditional lumped mass method and the 6 degree-of-freedom maneuverability equations for submarines respectively; the coupling boundary conditions besides the rod dynamics are also given to form the whole system's model. Several numerical cases are performed to investigate the rod effect on the system in different maneuver situations. Some meaningful conclusions are drawn through comparative analysis.     

Numerical procedure for static and dynamic analysis of fluid-conveying submarine pipeline span on linear elastic seabed

Based on the Hamilton principle, dynamic differential equation of the submarine pipeline span, under the interaction of internal flow and external environmental loads, is established. A constraint-equivalent method is used to deal with the boundary conditions of pipeline span on the linear elastic seabed. Effects of the internal flow velocity and seabed stiffness on the pipeline’s lateral deformation and bending stress are studied by the static analysis, while the preliminary relationships between the internal flow velocity and the foundation stiffness to the natural frequency of pipeline span are investigated by the dynamic analysis. It is found that the lateral deformation increases with the increment of internal flow velocity, but decreases with the increment of seabed stiffness. The bending stress at the ends of span increases with the increment of internal fluid velocity and the seabed stiffness, however the stress at the middle of the span shows the converse tendency. Moreover, increasing the seabed stiffness or decreasing the internal flow velocity can lead to higher natural frequency. The dynamics response of midpoint of span at different foundations and internal fluid velocities are also given in this paper.     

Numerical Investigation of the Dynamics for Low Tension Marine Cables

This paper presents a numerical investigation into the dynamics of marine cables which are extensively used in offshore industry. In this numerical study, the Euler-Bernoulli beam model is adopted to develop the governing equations of the cable. Bending stiffness is considered to cope with the low tension problem in local area of towing cable, and thus a more accurate solution with the consideration of the axial elongation can be given.The derived strongly-coupled and nonlinear governing equations are solved by a second-order accurate, implicit,and large time step stable central finite difference method. The quadratically convergent Newton-Raphson iteration method is applied to solving the discrete nonlinear algebraic equations. Then a towed array sonar system(TASS)problem is studied. The numerical solutions agree reasonably well with the experimental data and the simulated results of the references. The specified program of the present paper shows great robustness with high efficiency.     

定轴转动刚体惯性力系的主矢主矩沿直角坐标轴分量的计算

动静法通过惯性力将动力学问题转化为按静力学平衡问题求解.文章对用动静法求解无限个质点组成质系的动力学问题进行了更深入的探讨,明确给出定轴转动刚体惯性力系的主矢主矩沿直角坐标轴的分量公式,并用实例予以验证.     

桥梁柔性对中低速磁浮车辆平曲线通过的影响

为研究桥梁柔性对中低速磁浮车辆在曲线半径为70.0 m的平曲线上运行时的动态响应影响,对通过柔性桥梁和刚性轨道时的车辆动态响应开展了对比分析. 首先,建立了122个自由度的车辆空间动力学模型,模型中考虑了具有主动悬浮与被动导向特性的二维磁轨关系;其次,利用三维铁木辛柯梁参数化建模方法,建立了由柔性桥梁组成的平曲线有限元模型;最后,通过悬浮力的联系形成了车辆-曲线桥梁系统刚柔耦合动力学模型. 研究结果表明:17.0 m跨径的圆曲线桥梁的自振特性和动位移响应满足相关标准要求;与车辆通过刚性轨道相比,柔性桥梁作用下的车辆系统动态响应更为剧烈,这种差异在车辆系统的横向动态响应上体现明显,而悬浮间隙和车体垂向加速度的响应差异较小,考虑刚性轨道时将高估车辆的曲线通过能力;柔性桥梁和刚性轨道两种模型计算得到的电磁铁最大横向位移不超过6.0 mm,悬浮间隙可在额定值的 ± 4.0 mm内波动,表明在开展对比计算的工况下车辆具有良好的曲线通过性能.      

Dynamic model of underwater snake-like robot using Kane’s method

In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane＇s dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces： added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane＇s method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.     

Investigation on transient dynamic behaviors of low-tension undersea cables

This paper presents a numerical analysis of the dynamic transient behaviors of undersea cables. In this numerical study, the governing equations based on Euler-Bernoulli beam theory are adopted, and they can satisfy many applications no matter what the magnitude of the cable tension is. The nonlinear coupled equations are solved by a popular central finite difference method, and the numerical results of transient behaviors are presented when several kinds of surrounding conditions, such as different towing speeds of surface vessel, different currents and waves with various frequencies and amplitudes, are exerted. Then a detailed comparison of the results, including the upper end tension and cable shape in time-domain, is made under the above external excitations, and finally the possible reasons for these are further explained.     

考虑边界土体性质悬浮隧道地震响应分析

悬浮隧道地震响应研究是确保该新型交通结构物安全的重要内容,现有的研究往往忽视了驳岸结构的影响,将其简化为铰支、固支等简单约束形式。考虑了悬浮隧道驳岸结构周围岩土性质对其边界条件的影响,研究在横向地震作用下悬浮隧道的地震响应特性;采用大质量法,以Messina海峡悬浮隧道方案为基本模型,结合我国东部海域海床岩土性质,计算得到了地震作用下悬浮隧道管体位移、弯矩、扭矩和锚索索力,并对驳岸段长度Lsh和粘性土剪切模量G进行了参数分析。研究表明,悬浮隧道管体最大位移和弯矩出现于跨中、最大扭矩出现于两端、索力增量最大值出现于短索;弹性支撑有利于管体受力,但不利于锚索索力控制;驳岸段计算长度和粘土剪切模量的变化会对悬浮隧道地震响应特性带来显著影响,且影响规律较为复杂,可能与悬浮隧道结构动力特性、地震波的特性等相关参数具有耦合关系,需要进一步的研究探索。     

多孔介质海床对单桩所受波浪力的影响分析

为研究多孔介质海床的波浪衰减作用及单桩所受波浪力的变化规律,采用修正RANS方程和Forchheimer饱和阻力模型控制多孔介质内部流体流动,运用流体体积法追踪自由液面,建立波浪-多孔介质海床-单桩相互作用三维数值分析模型. 首先,基于波浪与多孔介质海床相互作用过程,研究了多孔介质海床对波浪传播的衰减作用;其次,分析了相同波浪条件下多孔介质海床及刚性海床时单桩所受波浪力的数值变化,突出了考虑海床多孔特性的必要性;最后,采用单一变量控制法,进一步研究了单桩所受波浪力数值随海床多孔特性参数的变化规律. 研究结果表明,海床多孔特性对波浪传播具有明显的衰减作用;给定的波浪参数和多孔介质海床条件下,单桩所受波浪力最大值比刚性海床情况提高约35%,若忽略海床多孔特性结构物会因低估波浪力数值而造成安全隐患;另外,结构物所受波浪力与海床孔隙率、颗粒直径、海床厚度及双层海床分布厚度及每层孔隙率密切相关. 其中,波浪力最大值随着海床颗粒直径的增加而递减,随着孔隙率的增大先增加后降低,且孔隙率会影响波浪力随海床厚度变化的趋势.      

抚顺天湖大桥索夹安装方法

抚顺天湖大桥是一座自锚式悬索桥，主缆材料采用钢丝绳，索夹安装前通过主缆与索夹摩阻系数试验，深入研究了高强螺栓预紧力损失的规律，获得了索夹安装的一系列控制参数；介绍了无猫道施工悬索桥使用移动平台安装索夹的方法和索夹安装时高强螺栓的施拧方案。     

Study on launch dynamics of the tank marching fire

As an army main battle equipment, it is required that the tank should have high firing accuracy and high first round hit probability during marching. The initial disturbance of the projectile is the premier factor that takes effect on the marching fire accuracy of the tank. And the marching fire accuracy of the tank depends on the launch dynamics behaviors of the tank. In this paper, the launch dynamics theory of a tank marching fire is studied, and its launch dynamics model is established. Based on the transfer matrix method for multibody system(MSTMM) and the automatic deduction theorem of overall transfer equations, the overall transfer equation and the overall transfer matrix of a tank multibody system are deduced; the launch dynamics equations of the tank marching fire are deduced, and the dynamic response of the tank system, the motion of projectile in barrel, the initial disturbance of the projectile and the vertical target dispersion are exactly simulated; meanwhile, the results of simulation are verified by tests. This work provides both theoretical foundation and simulation approaches for improving the marching fire accuracy of the tank.     

Numerical analysis on cnoidal wave induced response of porous seabed with definite thickness

Severe water waves can induce seabed liquefaction and do harm to marine structures. Dynamic response of seabed with definite thickness induced by cnoidal water waves is investigated numerically. Biot＇s consolidation equations are employed to model the seabed response. Parametric studies are carried out to examine the influence of the air content in the pore water and the soil hydraulic conductivity. It is been shown that the air content and soil hydraulic conductivity can significantly affect the pore pressure in seabed. An increase of air content and/or a decrease of soil hydraulic conductivity can change the pore pressure gradient sharply.     

Relative Attitude Dynamics and Control of Spacecraft Formation Flying Considering Flexible Panels

As a key technology for orbital applications, researches on spacecraft formation flying (SFF) attract more attention. However, most of existing researches about dynamics and control of SFF focus on rigid spacecrafts without considering the effect of flexible attachments (such as flexible panels). In this paper, relative attitude dynamics and active control of SFF for a flexible spacecraft (follower spacecraft) and a rigid spacecraft (target spacecraft) are investigated. Firstly, a dynamic model of the flexible spacecraft is established by the principle of angular momentum. Then, the equation of relative attitude dynamics between the flexible spacecraft and the rigid spacecraft is derived by the quaternion to represent the attitude relation of the two spacecrafts. Finally, an attitude feedback controller is designed for the SFF system, and its stability is proved by the Lyapunov stability theory. Simulation results indicate that the panel flexibility has an obvious influence on the dynamic behaviour of the system, the designed controller can effectively control the attitude of the two spacecrafts to achieve synchronization, and the elastic vibration of the panels may be suppressed simultaneously.     

In-plane Auto-Parametric Vibration of Inclined Cables under Random Transverse Excitation

In-plane auto-parametric stochastic vibration of inclined cables subjected to Gaussian white noise in transverse bridge orientation is investigated. Based on Newton＇s laws of motion and Galerkin＇s modal truncation principle, the influences of geometry nonlinearity induced by sag and large displacement of cables and the initial equilibrium state are taken into account. Meanwhile, the three-dimensional non-linear differential equations of inclined cables for coupling vibration are deduced, equivalent stochastic linearization method is applied to derive the 14-dimensional first-order nonlinear differential equations of state vectors, and the Runge-Kutta integration method is utilized to obtain the root mean square （RMS） response. Results show that when the transverse random excitation imposed on the stayed cable exceeds a critical value, the in-plane transverse vibration of the cable are excited due to tim auto-parametric nonlinear coupling, and the critical value of random excitation increases with the damping ratio. In this motion, the cable response possesses non-stationary characteristics, even though the loading keeps stationary.     

刚性索悬索桥研究

刚性索悬索桥是指主缆及吊杆为刚度较大的构件组成的悬索桥 .它解决了中小跨度时常规悬索桥刚度差、吊杆易疲劳等问题 .文中介绍了刚性索悬索桥的计算分析、构造措施和施工方法 ,给出了工程实例———于 1999年12月建成通车的江苏常州广化桥 ,说明刚性索悬索桥是一种很有应用前景的桥型 .     

单车荷载作用下T型刚构桥车致振动响应研究

根据车辆-桥梁结构振动特性,研究单车移动荷载作用下,T型刚构桥考虑桥面不平顺影响时桥梁振动响应及冲击特性。通过将T型刚构桥离散为三维梁单元有限元模型,车辆简化为九自由度整车模型（考虑车辆俯仰及侧翻）,桥面不平顺激励采用实测和数值模拟（根据国标GB／T7031—86给定功率谱密度曲线采用三角级数叠加法模拟）两种激励;以车轮与桥面相互接触处保持不脱离为条件,建立车辆与桥梁耦舍振动方程,利用模态综合法并结合Newmark—β数值积分方法进行迭代求解。以乔木湾乐安河T型刚构桥为工程背景,研究了单车荷载下,最不利位置处的冲击系数随桥梁结构阻尼、行车速度、桥面不平顺及车辆特性的变化关系,并将数值模拟结果与实测结果对比。研究结果表明,实测冲击系数与数值模拟的冲击系数较好吻合,乐安河大桥冲击系数满足04《桥规》要求。     

用于柔索振动控制的索型动态吸振器

研究一类用于控制柔索在谐波激励下的主模态振动的索型动态吸振器．控制索（动态吸振索）与被控索（主索）具有相同的边界条件，并用均匀分布的线性弹簧和阻尼器与主索相联结．因为在相同边界条件下，主索和吸振索具有相同的特征函数，所以在主索的模态坐标下，系统的运动方程等同于具有两质量块的二自由度系统的运动方程．     

Fatigue sensitivity analysis of steel catenary riser near touchdown point

By transforming the platform response obtained from coupled hydrodynamic analysis to the top motions of steel catenary riser (SCR), the nonlinear dynamic analysis of the SCR is carried out in Abaqus/Aqua. In this analysis, the SCR-seabed interaction is well taken into account by introducing the seabed trench model and hysteretic seabed model. The fatigue damage of the SCR near touchdown point (TDP) is calculated using rain-flow counting methodology, and the sensitivity of the fatigue damage to the seabed and wave parameters are investigated. The results indicate that as seabed stiffness increases, the fatigue life and its sensitivity to seabed stiffness decrease. Seabed trenching may benefit the fatigue life of the SCR and the trench position should be elaborated for realistic fatigue damage prediction. Due to the induced platform response, significant wave height and spectral peak period have significant effects on the fatigue damage, thus the short-term sea state bins should be carefully selected from the wave scatter diagram.