轻型TLP垂向振动的磁流变阻尼器半主动控制研究

发布时间：2018-03-05 22:18

本文选题：张力腿平台　切入点：磁流变阻尼器　出处：《华南理工大学》2013年硕士论文　论文类型：学位论文

【摘要】：随着陆地上石油资源的日益枯竭，海上石油的开采越来越受到各国的重视，海上石油的产量所占的比例也越来越高。TLP（“Tension Leg Platform”，张力腿平台），是一种适应于深海作业，性能优良的海洋平台，其具有如下优势：1、适用水深范围为200-2500米。2、可使用干井口，适用于采油平台。3、安装维护费用较低。本文在相关研究进展的基础上，提出适用于浅海的轻型TLP，这种轻型TLP，造价相对导管架平台更加低廉，且可重复使用。 TLP具有半顺应半刚性的结构特性，其平面内的运动（横荡、纵荡、艏摇）为顺应性，平面外的运动（横摇、纵摇、垂荡）则近似刚性。应用于深水的TLP，其垂直方向的运动周期较短，为2-4秒，而轻型TLP垂向运动周期更短。TLP的这种结构特点，产生了一些其他海洋平台所不具备或不常见的运动响应，如高频垂向振动springing（弹振）和ringing（鸣振）。TLP的这种垂向运动响应，很容易造成平台本体以及张力腿的疲劳和损伤，必须要加以研究和控制。磁流变液（magneto-rheological fluid，MRF）是一种智能材料，它能够在强磁场的作用下从牛顿流体变化为粘塑性流体。用磁流变液制作的耗能器具有能耗低、出力大、响应速度快、结构简单、阻尼力连续可调及价格便宜，并可方便地与微机控制结合等优良特点。研究表明，恰当的安装磁流变阻尼器控制效果比被动控制效果好，甚至可以超过主动控制的效果。本文拟采用磁流变阻尼器(magneto-rheological fluid damper，MR阻尼器)对轻型TLP的垂向振动进行半主动控制。首先利用多体水动力软件AQWA软件，计算平台在频域下的一阶、二阶波浪力和水动力参数，然后通过MATLAB语言编写程序，利用AQWA所求出的水动力参数进行频域到时域下的转换，对平台的垂向波浪响应进行数值计算。选取线性二次型(LQR)经典最优控制算法和限界Hrovat半主动最优控制算法，，通过对安装了磁流变阻尼器的TLP的垂向半主动控制进行数值模拟，并与采用LQR算法的主动控制以及未安装任何控制装置的无控状态进行对比，以考察其控制效果。
[Abstract]:With the increasing depletion of petroleum resources on land, more and more countries pay attention to the exploitation of offshore oil, and the proportion of offshore oil production is increasing. TLP ("Tension Leg Platform") is a kind of tension leg platform, which is suitable for deep-sea operations. The offshore platform with excellent performance has the following advantages: it has the following advantages: it has the following advantages: it has a water depth range of 200-2500 m. 2, it can use dry wellhead, it is suitable for oil recovery platform. 3, and the installation and maintenance costs are relatively low. The light TLPs suitable for shallow water are proposed. The light TLPs are cheaper than jacket platforms and can be reused. TLP has a semi-compliant semi-rigid structure, its in-plane motion (swinging, swinging, yawing) is compliance, off-plane motion (roll, pitch, pitch), In deep water, the vertical motion period is shorter, ranging from 2 to 4 seconds, while the light TLP vertical motion period is much shorter. Some motion responses that are not available or common to other offshore platforms, such as those of high frequency vertical vibration springing (elastic vibration) and ringing (ringing. TLP), can easily cause fatigue and damage to the platform body and tension legs, It must be studied and controlled. Magneto-rheological fluid (MRF) is a kind of intelligent material, which can change from Newtonian fluid to viscoplastic fluid under strong magnetic field. The damping force can be adjusted continuously and the price is cheap, and it can be easily combined with microcomputer control. The research shows that the control effect of properly installing Mr damper is better than that of passive control, and can even exceed the effect of active control. In this paper, magneto-rheological fluid damper (magneto-rheological fluid damper) is used to control the vertical vibration of light TLP. Firstly, the first and second order wave forces and hydrodynamic parameters of the platform in frequency domain are calculated by using the multi-body hydrodynamic software AQWA software. Then the program is written by MATLAB language, and the hydrodynamic parameters obtained by AQWA are converted from frequency domain to time domain. The vertical wave response of the platform is numerically calculated. The classical optimal control algorithm and the bounded Hrovat semi-active optimal control algorithm are selected to simulate the vertical semi-active control of TLP with magnetorheological damper. It is compared with the active control using LQR algorithm and the uncontrolled state without any control device, so as to investigate its control effect.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TB535;TP273

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