深水柔性構(gòu)件非線性動(dòng)力響應(yīng)研究
發(fā)布時(shí)間：2019-05-09 12:50
【摘要】：錨泊線和立管是海洋工程開發(fā)中的重要柔性構(gòu)件,由于長(zhǎng)度遠(yuǎn)遠(yuǎn)大于直徑尺寸,在深水環(huán)境中極容易彎曲變形。其中,合成纖維錨泊纜材料的抗拉剛度小,軸向變形明顯,同時(shí)具備了抗彎特性。針對(duì)這一問題,本文在軸向拉伸變形方面對(duì)經(jīng)典細(xì)長(zhǎng)桿模型進(jìn)行改進(jìn),模擬在浮體運(yùn)動(dòng)中纜索的大位移、大轉(zhuǎn)動(dòng)、軸向大變形、彎曲大變形等幾何非線性特征,解決已有的集中質(zhì)量法、細(xì)長(zhǎng)桿模型、非線性梁等理論只能計(jì)算大彎曲變形小軸向應(yīng)變問題的局限性。同時(shí),引入來自工業(yè)試驗(yàn)成果的Kim線性粘彈性模型和彈塑性P-y曲線海底土體剛度模型,提出與新細(xì)長(zhǎng)桿模型相恰的數(shù)值計(jì)算方法,將只能模擬線彈性材料和彈性海底的經(jīng)典細(xì)長(zhǎng)桿理論拓展到材料非線性和邊界非線性領(lǐng)域。最終,針對(duì)錨泊線和立管中出現(xiàn)的幾何非線性、材料非線性和海底邊界非線性等問題,基于細(xì)長(zhǎng)桿理論發(fā)展新的桿元模型,并與三維間接時(shí)域法形成一種浮式系統(tǒng)的異步耦合計(jì)算方法。首先,研究軸向大變形的細(xì)長(zhǎng)桿模型,并給出有限元數(shù)值計(jì)算方法。在軸向大變形的情況下,單元長(zhǎng)度發(fā)生了明顯改變,結(jié)構(gòu)在參考構(gòu)形和當(dāng)前構(gòu)形下的狀態(tài)已經(jīng)無法近似等同,這已經(jīng)涉及到了有限變形的范疇,經(jīng)典細(xì)長(zhǎng)桿模型不再適用。因此,本文在經(jīng)典細(xì)長(zhǎng)桿模型基礎(chǔ)上,從最基本的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)層面重新研究應(yīng)變、應(yīng)力、曲率等各項(xiàng)因素對(duì)變形、平衡和運(yùn)動(dòng)的影響,通過拉伸變形前后結(jié)構(gòu)點(diǎn)對(duì)點(diǎn)一一對(duì)應(yīng)的假設(shè),建立參量的變換關(guān)系,在有限元法的框架下建立大拉伸變形下的求解方法,以牛頓-拉斐遜法建立細(xì)長(zhǎng)桿結(jié)構(gòu)的靜力平衡求解格式,通過顯式的莫爾頓法形成細(xì)長(zhǎng)桿結(jié)構(gòu)的動(dòng)力響應(yīng)數(shù)值求解方法。利用大拉伸懸臂梁和強(qiáng)制運(yùn)動(dòng)的垂向梁算例,在大變形幾何非線性方面進(jìn)行靜力平衡和動(dòng)力響應(yīng)計(jì)算驗(yàn)證。結(jié)果顯示,本文所提的新細(xì)長(zhǎng)桿模型具有較高的計(jì)算精度,具備處理軸向大拉伸和彎曲變形的能力。然后,研究由線彈特性、粘彈特性、泊松效應(yīng)和結(jié)構(gòu)內(nèi)部阻尼等構(gòu)成的非線性材料在細(xì)長(zhǎng)桿模型中的實(shí)現(xiàn)方法。經(jīng)典細(xì)長(zhǎng)桿理論中只研究了適用于鋼材的線彈性材料,然而合成纖維材料卻不同,除了應(yīng)變更大以外,還具有蠕變、松弛、應(yīng)力應(yīng)變滯回等特點(diǎn),其非線性本構(gòu)關(guān)系與幾何非線性共同作用,極大地加重了合成纖維纜的分析難度。本文對(duì)Kim粘彈性模型的線性粘彈性本構(gòu)關(guān)系進(jìn)行了變換,并與泊松效應(yīng)和結(jié)構(gòu)內(nèi)部阻尼形成材料本構(gòu)方程,以拉力-應(yīng)變的形式研究其在新細(xì)長(zhǎng)桿模型中的實(shí)現(xiàn)方法,形成有限元求解格式,并通過特定的算例進(jìn)行精確校核,證明這種計(jì)算方法的準(zhǔn)確性。同時(shí),在細(xì)長(zhǎng)桿理論中研究彈塑性海底模型的計(jì)算方法。海底作為鋼懸鏈線立管、懸鏈線式錨泊線分析中重要的邊界條件,其土體剛度對(duì)結(jié)構(gòu)的運(yùn)動(dòng)響應(yīng)和應(yīng)力分布有著直接的影響。經(jīng)典細(xì)長(zhǎng)桿模型采用線性彈簧模擬海床,但這不能反映真實(shí)的海床特性,因此,本文以從工業(yè)聯(lián)合項(xiàng)目(JIP)實(shí)尺度試驗(yàn)中發(fā)展起來的彈塑性P-y曲線模型(土體反力-沉入深度曲線模型)為基礎(chǔ)研究了海底土體剛度的非線性變化特征和數(shù)值實(shí)現(xiàn)方法,將小位移運(yùn)動(dòng)模型、大位移運(yùn)動(dòng)模型和運(yùn)動(dòng)反轉(zhuǎn)模型,通過有限元法和梯形法給出在細(xì)長(zhǎng)桿模型中的計(jì)算方法,解決結(jié)構(gòu)在觸地區(qū)域的受力響應(yīng)問題。最后,根據(jù)細(xì)長(zhǎng)桿模型的特點(diǎn),發(fā)展一套纜索系統(tǒng)與浮體的異步耦合響應(yīng)計(jì)算方法。目前,商業(yè)界已經(jīng)形成了一些時(shí)域耦合分析計(jì)算程序,但在具體的耦合方式和如何提高計(jì)算效率等方面仍然有待進(jìn)一步研究。本文采用新細(xì)長(zhǎng)桿模型和三維間接時(shí)域法形成一種異步耦合分析方法,這種方法在頻域內(nèi)計(jì)算浮體運(yùn)動(dòng)相關(guān)水動(dòng)力參數(shù),變換到時(shí)域后,與新細(xì)長(zhǎng)桿模型異步耦合,提高分析的準(zhǔn)確度和計(jì)算效率,解決耦合過程中的浮體和纜索系統(tǒng)時(shí)間步長(zhǎng)不一致的問題。通過FPSO單點(diǎn)錨泊系統(tǒng)案例,與AQWA軟件進(jìn)行對(duì)比分析說明這種方法可行。
[Abstract]:Mooring line and riser are an important flexible component in the development of ocean engineering, because the length is much larger than the diameter dimension, it is very easy to bend and deform in the deep water environment. In which, the tensile rigidity of the synthetic fiber anchoring cable material is small, the axial deformation is obvious, and the bending resistance property is also provided. In view of this problem, this paper improves the classical slender rod model in the aspect of axial tensile deformation, and simulates the geometric non-linear characteristics such as large displacement, large rotation, large axial deformation and large deformation of the cable in the movement of the floating body, and solves the existing concentrated mass method, the slender rod model, The nonlinear beam theory can only calculate the limitation of the small axial strain problem of large bending deformation. At the same time, by introducing the Kim linear viscoelastic model and the elastic-plastic P-y curve bottom soil mass stiffness model from the industrial test results, the numerical calculation method of the new slender rod model is proposed, The classical slender rod theory, which can only be used to simulate the elastic material of the line and the elastic seabed, is extended to the field of material non-linear and boundary non-linearity. In the end, the new rod-element model is developed based on the theory of the slender rod, and an asynchronous coupling method of the floating system is formed by the three-dimensional indirect time-domain method. First, the slender rod model with large axial deformation is studied, and the numerical method of the finite element method is given. In the case of large axial deformation, the unit length has changed significantly, the state of the structure in the reference configuration and the current configuration has not been nearly equal, which has been involved in the limited deformation category, and the classical slender rod model is no longer applicable. Therefore, on the basis of the classical slender rod model, the influence of various factors such as strain, stress and curvature on the deformation, balance and motion is re-studied from the most basic kinematics and dynamics, and the point-to-point one-to-one correspondence between the front and back structures of the deformation is adopted. The transformation relation of the parameters is established, and the solution method under the large-tensile deformation is established under the framework of the finite element method, the static equilibrium solution format of the slender rod structure is established by the Newton-Raphanson method, and the dynamic response numerical solution method of the slender rod structure is formed by the explicit Morton method. In this paper, a numerical example of vertical beam and forced motion is used to verify the static balance and dynamic response in the nonlinear aspect of large deformation geometry. The results show that the new slender rod model proposed in this paper has higher calculation accuracy, and has the ability to deal with axial large tensile and bending deformation. Then, the realization of nonlinear materials, such as line-elastic properties, viscoelastic properties, Poisson's effect, and internal damping of the structure, is studied. In the classical slender rod theory, only the linear elastic materials suitable for steel are studied, but the synthetic fiber materials are different. In addition to the large changes, the nonlinear constitutive relation and the geometric non-linear constitutive relation of the synthetic fiber material have the characteristics of creep, relaxation, stress-strain hysteresis and the like. And the analysis difficulty of the synthetic fiber cable is greatly increased. In this paper, the linear viscoelastic constitutive relation of the Kim viscoelastic model is transformed, and the constitutive equation of the material is formed by the Poisson effect and the internal damping of the structure. And the accuracy of the calculation method is proved by the specific example. At the same time, the calculation method of the elastic-plastic seabed model is studied in the theory of the slender rod. The sea floor is an important boundary condition in the analysis of the catenary riser and the catenary mooring line, and its soil stiffness has a direct effect on the motion response and the stress distribution of the structure. The classical slender rod model uses a linear spring to simulate the seabed, but this does not reflect the true sea-bed characteristics, so, Based on the elastic-plastic P-y curve model developed from the real-scale test of the industrial joint project (JIP), the nonlinear variation character and the numerical realization method of the stiffness of the seabed soil are studied, and the small-displacement motion model is obtained. In this paper, a large-displacement motion model and a motion inversion model are presented, and the calculation method in the slender rod model is given by the finite element method and the trapezoid method, and the stress response of the structure in the ground area is solved. Finally, based on the characteristics of the slender rod model, an asynchronous coupling response calculation method for a cable system and a floating body is developed. At present, the business community has formed some time-domain coupling analysis and calculation program, but still needs to be further studied in the specific coupling mode and how to improve the calculation efficiency. in this paper, an asynchronous coupling analysis method is formed by using a new slender rod model and a three-dimensional indirect time-domain method, And solves the problem that the time steps of the floating body and the cable system in the coupling process are not consistent. Through the case of FPSO single-point mooring system, the comparison and analysis with AQWA software show that this method is feasible.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：P75
本文編號(hào)：2472779
[Abstract]:Mooring line and riser are an important flexible component in the development of ocean engineering, because the length is much larger than the diameter dimension, it is very easy to bend and deform in the deep water environment. In which, the tensile rigidity of the synthetic fiber anchoring cable material is small, the axial deformation is obvious, and the bending resistance property is also provided. In view of this problem, this paper improves the classical slender rod model in the aspect of axial tensile deformation, and simulates the geometric non-linear characteristics such as large displacement, large rotation, large axial deformation and large deformation of the cable in the movement of the floating body, and solves the existing concentrated mass method, the slender rod model, The nonlinear beam theory can only calculate the limitation of the small axial strain problem of large bending deformation. At the same time, by introducing the Kim linear viscoelastic model and the elastic-plastic P-y curve bottom soil mass stiffness model from the industrial test results, the numerical calculation method of the new slender rod model is proposed, The classical slender rod theory, which can only be used to simulate the elastic material of the line and the elastic seabed, is extended to the field of material non-linear and boundary non-linearity. In the end, the new rod-element model is developed based on the theory of the slender rod, and an asynchronous coupling method of the floating system is formed by the three-dimensional indirect time-domain method. First, the slender rod model with large axial deformation is studied, and the numerical method of the finite element method is given. In the case of large axial deformation, the unit length has changed significantly, the state of the structure in the reference configuration and the current configuration has not been nearly equal, which has been involved in the limited deformation category, and the classical slender rod model is no longer applicable. Therefore, on the basis of the classical slender rod model, the influence of various factors such as strain, stress and curvature on the deformation, balance and motion is re-studied from the most basic kinematics and dynamics, and the point-to-point one-to-one correspondence between the front and back structures of the deformation is adopted. The transformation relation of the parameters is established, and the solution method under the large-tensile deformation is established under the framework of the finite element method, the static equilibrium solution format of the slender rod structure is established by the Newton-Raphanson method, and the dynamic response numerical solution method of the slender rod structure is formed by the explicit Morton method. In this paper, a numerical example of vertical beam and forced motion is used to verify the static balance and dynamic response in the nonlinear aspect of large deformation geometry. The results show that the new slender rod model proposed in this paper has higher calculation accuracy, and has the ability to deal with axial large tensile and bending deformation. Then, the realization of nonlinear materials, such as line-elastic properties, viscoelastic properties, Poisson's effect, and internal damping of the structure, is studied. In the classical slender rod theory, only the linear elastic materials suitable for steel are studied, but the synthetic fiber materials are different. In addition to the large changes, the nonlinear constitutive relation and the geometric non-linear constitutive relation of the synthetic fiber material have the characteristics of creep, relaxation, stress-strain hysteresis and the like. And the analysis difficulty of the synthetic fiber cable is greatly increased. In this paper, the linear viscoelastic constitutive relation of the Kim viscoelastic model is transformed, and the constitutive equation of the material is formed by the Poisson effect and the internal damping of the structure. And the accuracy of the calculation method is proved by the specific example. At the same time, the calculation method of the elastic-plastic seabed model is studied in the theory of the slender rod. The sea floor is an important boundary condition in the analysis of the catenary riser and the catenary mooring line, and its soil stiffness has a direct effect on the motion response and the stress distribution of the structure. The classical slender rod model uses a linear spring to simulate the seabed, but this does not reflect the true sea-bed characteristics, so, Based on the elastic-plastic P-y curve model developed from the real-scale test of the industrial joint project (JIP), the nonlinear variation character and the numerical realization method of the stiffness of the seabed soil are studied, and the small-displacement motion model is obtained. In this paper, a large-displacement motion model and a motion inversion model are presented, and the calculation method in the slender rod model is given by the finite element method and the trapezoid method, and the stress response of the structure in the ground area is solved. Finally, based on the characteristics of the slender rod model, an asynchronous coupling response calculation method for a cable system and a floating body is developed. At present, the business community has formed some time-domain coupling analysis and calculation program, but still needs to be further studied in the specific coupling mode and how to improve the calculation efficiency. in this paper, an asynchronous coupling analysis method is formed by using a new slender rod model and a three-dimensional indirect time-domain method, And solves the problem that the time steps of the floating body and the cable system in the coupling process are not consistent. Through the case of FPSO single-point mooring system, the comparison and analysis with AQWA software show that this method is feasible.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：P75
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