铺管船定位作业时的建模与分析

摘要

建立了J型半潜式铺管起重船非线性船舶运动数学模型和环境模型.采用自然悬链线法得到管道对船舶的近似动态水平作用力模型,给出了随着船体运动管道受到的作用力和管道形状的变化.针对铺管作业时张紧器和管道间的恒张力问题设计了控制器,控制器限制了船舶的运动和管道作用力的变化率,从而使管道和张紧器之间不会出现滑动,保证了铺管作业的安全性.%Nonlinear mathematical vessel model and environmental model are developed for a semi-submersible pipelay and crane vessel during J-lay operation. The natural catenary method is adopted to calculate the quasi-dynamic horizontal force that the pipe acts on the ship. Change of force acting on the pipe and the pipe shape are given. The controller is designed for the constant tension between tensioner and pipeline. It indicates that the controller can limit the pipe tension in a slowly varying state, so that the pipe won't glide relative to the tensioner and ensure the security of pipelay operation.