海底柔性管道铺设系统动力学分析及实验研究

摘要

In order to conduct a comprehensive study on the dynamic performance and critical parameters of a sub⁃sea flex⁃lay system, a discretisation of a flexible pipeline was performed utilizing the rigid finite element method, and kinematic link of the rigid and flexible coupling system consisting of rigid elements and spring damping ele⁃ments was also established. A dynamic model was constructed with Lagrange second order equation in joint coordi⁃nates system;numerical calculation and analysis were conducted taking into account the laying vessel six DOF kine⁃matic fluctuations under sea waves. Results show that heave and pitch fluctuations have significant impact on the dy⁃namic performance of the subsea flex⁃lay system. Especially as it pertains to rough sea conditions, severe vibration in laying speed and pipe tension force could be induced by kinematic fluctuations. An experimental study on re⁃duced scale prototype was performed and analogous results obtained. The proposed dynamic model and analytical re⁃sults can be applied in subsequent driving control system designs.%　　针对海底柔性管道铺设系统的动力学性能及其关键影响因素分析问题，利用刚性有限元方法对柔性管道进行了离散化处理，建立了包含刚性单元及弹簧阻尼单元的刚柔耦合系统运动链。在关节坐标系统下，应用第二类拉格朗日方程对系统进行了动力学建模，引入海浪影响下的铺管船六自由度运动波动对模型进行了数值求解分析。结果表明，铺管船升沉及纵摇运动波动对柔性管道铺设系统的动力学性能影响显著，特别是恶劣海况条件下的大幅值扰动，将导致管道张力及铺管速度产生剧烈振动。通过缩减比例样机模拟实验对理论分析结果进行了验证，所述动力学模型及分析结论可为后续驱动控制系统设计提供依据。