Active control for installation of underwater structures

The trend towards deepwater development requires a new approach to underwater installation of offshore structures. The present method using crane vessels has some drawbacks in operations at more than 2000 m depth. The natural period of the coupled system of the rigged structure and the crane vessel becomes longer, so that it is no longer possible to manipulate the cranes to achieve the desired positioning accuracy. This paper examines the application of an active control technique for underwater installations as one of the solutions to the present problems. An active control technique also has the advantage that it can deal with the structural flexibility which allows the structure to be large and light-weight. This structural flexibility imposes problems of suppressing the elastic responses and securing the stability of the control system. In this paper, anH _∞ controller combined with a low authority control/high authority control (LAC/HAC) feedback controller is designed for cases where structural flexibility cannot be ignored. A robust model-following controller is examined for cases where the structure can be treated as rigid. In order to confirm the control algorithm and verify the possibility of the active control installation method, basin tests are executed using two types of neutrally buoyant flexible models with ultrasound ranging systems and thrusters.     

Phase change analysis of an underwater glider propelled by the ocean＇s thermal energy

The phase change characteristic of the power source of an underwater glider propelled by the ocean＇s thermal energy is the key factor in glider attitude control. A numerical model has been established based on the enthalpy method to analyze the phase change heat transfer process under convective boundary conditions. Phase change is not an isothermal process, but one that occurs at a range of temperature. The total melting time of the material is very sensitive to the surrounding temperature. When the temperature of the surroundings decreases 8 degrees, the total melting time increases 1.8 times. But variations in surrounding temperature have little effect on the initial temperature of phase change, and the slope of the temperature time history curve remains the same. However, the temperature at which phase change is completed decreases significantly. Our research shows that the phase change process is also affected by container size, boundary conditions, and the power source＇s cross sectional area. Materials stored in 3 cylindrical containers with a diameter of 38ram needed the shortest phase change time. Our conclusions should be helpful in effective design of underwater glider power systems.     

水下航行体应用鱼类仿生推进技术的试验研究

水下仿生推进技术将是水下航行体推进技术的革命，这种推进方式是仿生学和水下航行体推进结合的产物，突破了传统的螺旋桨推进理论。初步研究了水下航行体仿生推进技术，以及波状摆动推进中C形起动模式使用不同形状尾鳍的流场结构及动力性能。一般可以将尾鳍形状划分为对称与不对称两大类，选择矩形和三角形作为这两类尾鳍的代表，对其进行了流动显示以及力矩和力测量。研究发现，两种尾鳍模型具有截然不同的流场结构：矩形会在翼尖处产生一个主涡环，而三角形会在尖角上下出现两个涡环。不同的尾迹流场结构有着不同的动力学效果。据此对比分析了不同形状的尾鳍在波状摆动推进中各自的优缺点，在此基础上进一步分析了尾鳍形状在实际工程中的应用。     

现代气压沉箱工法及其关键设备

随着城市地下空间的开发利用,大深度、大规模基坑施工不断出现,大深度地下施工技术的研究和应用越来越重要。该文简要介绍适合于大深度基坑施工的现代气压沉箱工法,主要包括该工法的优点、主要施工顺序,同时介绍了该工法关键设备——国产无人化遥控挖掘机的研制情况,供同行业技术人员参考。     

模板式钢套箱水下承台施工质量问题及其改进措施

以龙王庙特大桥承台施工为背景,介绍了模板式钢套箱施工的基本工序与施工过程中发生的质量问题,从钢套箱模板受力计算、施工细部措施等方面对承台施工过程中的质量问题进行了分析并提出了相应的改进措施,总结了模板式钢套箱水下承台施工的经验。     

大连星海湾跨海大桥主桥总体设计

大连星海湾跨海大桥主桥为(180+460+180)m双层地锚式悬索桥,主梁为钢桁架结构形式,采用整体节点构造,上、下2层桥面板均采用正交异性钢桥面板,桥面上铺装5.5cm厚双层环氧沥青。锚碇采用空腹三角形框架混凝土重力式锚碇,设置在水深20~30m的海床上,锚碇基础采用整体大沉箱,单个沉箱重达26 000t,在船坞内预制完成后用拖轮拖运到桥位处安装在碎石基床上,碎石基床采用升浆技术进行加固。桥塔采用钢筋混凝土框架结构,设上、下2道横梁。主缆由钢丝强度等级为1 770MPa的平行钢丝索股组成,并用长达16m的刚性拉杆锚固在锚碇上,同时采用除湿系统结合传统防腐涂装体系的结构进行防腐,以提高缆索系统的耐久性。     

北方地区沉箱重力式码头冬季施工成套技术

冬季施工成套技术解决了冬季大型沉箱预制、溜放、大规模混凝土现浇施工、以及冬季潜水整平作业所面临的技术难题。文章中概要阐述了寒冷地区沉箱重力式码头冬季施工关键技术措施及其在秦皇岛港煤四期扩容和煤五期码头施工中的应用。     

水下地基形态自动监测控制系统

随着海上建筑增多,急需一种适合于远离岸线,特别是在台风时也能够准确便捷地对地基进行水下自动监测的仪器。采取了诸多措施,将测控系统和设备构成的监测系统,放在远离岸线的海底进行长期监测。经几项工程均长达一年半的监测实践表明,监测数据规律性很好、长期稳定性强、无零飘现象、通讯传输便捷而可靠。     

船用917钢抗冲击性能试验

无论金属材料或是非金属材料,其力学性能都是与应变率相关的.由于应变率历史效应以及在高速变形条件下产生绝热剪切带等不稳定性因素,使得材料对于高应变率响应的问题变得十分复杂,而一些实验方法则起到了重要作用.材料的本构关系是与水下爆炸等现象仿真研究的精度直接相关的,材料在高应变率下本构关系的确定,对水下爆炸等产生高应变率现象进行仿真研究具有重要意义.本文通过Hopkinson杆装置对船用917低磁钢进行了抗冲击性能研究,并由试验给出了仿真研究中适用的本构关系.     

水中航行体绕流数值计算研究

水动力设计是水中航行体设计的重要组成部分.文章采用数值算法分别对水中航行体全湿和带空泡两种不同状态水下绕流问题进行了计算研究,并与风洞及水洞试验结果进行了对比.计算结果与试验值吻合较好,验证了数值算法的准确性.同时得到了水下绕流的某些运动规律,研究结果对工程设计起到了一定的帮助作用.