浮托驳船动力定位的数值模拟和模型试验研究-船舶与海洋结构物设计制造专业论文.docx

上海交通大学硕士论文 上海交通大学硕士论文 万方数据 万方数据 III IV 浮托驳船动力定位的数值模拟和模型试验研究 摘 要 浮托安装技术在海上安装中的应用日益广泛。作为浮托安装技术之 一的动力定位驳船，已经在实际浮托安装工程中成功应用。本文围绕某 装有动力定位系统的驳船的数值模拟和模型试验开展。目的是验证工程 方案的可行性，以及研究控制系统的难点之一即控制参数的调节方法。 本文利用 PATRAN 对浮托驳船建模，用 HydroStar 和 HydroD 进行 频域分析。借助 MATLAB 自编程序和 SIMO 软件对各工况进行时域模拟。 研究了驳船在浮托安装应用中的待命和进船状态下，其运动响应、动力 定位精度、各推进器的推力、推力系统发出的总推力等。每种状态下均 研究不同的波浪工况的影响。数值模拟和模型试验的结果都验证了工程 设计方案的可行性，将两者对比研究，得出了推力分配与环境力方向的 关系。 本文还详细研究了 PID 控制参数对于定位精度和总推力的影响，创 新性地提出了一种将试凑法和控制变量法结合的参数整定方法，为工程 实际中整定控制参数提供参考。 关键词：浮托安装，动力定位，数值模拟，模型试验 V NUMERICAL AND EXPERIMENTAL RESEARCH FOR DYNAMIC POSITIONING SYSTEM OF FLOATOVER BARGE ABSTRACT Floatover installation has become more and more widely used in the offshore operation. Dynamic positioned (DP) barge has been used in practice successfully. The thesis concentrated on the numerical simulation and model test of a DP barge to verify the feasibility of the project plan. The thesis also aims to study the way to tune the parameters of the controller which remains a challenge. The numerical model is completed by PATRAN. The thesis consists of three main parts including the numerical simulation of the barge in standby period using MATLAB, the numerical simulation of the barge in entry period using SIMO and the model test of standby period and entry period. The hydrodynamic response, dynamic positioning accuracy, thrust of every thruster and total thrust of the thruster system. Different wave headings are studied in standby period and entry period. Both numerical simulation and model test verify the feasibility of the project plan. The relation between the total thrust and wave heading is concluded by comparing the results of numerical simulation and model test. The effects of PID controller parameters on the dynamic positioning accuracy and total thrust are analyzed as well. An innovative method combining trial-and-error method and the control variables is put forward which has the important reference value for the practical engineering projects. KEY WORDS: flo