海洋环境波浪和海流作用下深海海底钻机收放系统动力学与控制研究

A seafloor drill is necessary equipment for marine geologic and mineral resources investigation. As seafloor drill moves towards long-hole, large-scale and multi-functional, its safe, reliable and accurate launch and recovery has become particularly an outstanding problem. Aiming at the dynamics and control research of launch and recovery system of seafloor drill under the ocean wave and current environment in this project. Firstly, the coupling mathematical model of wave and current is established based on the characteristic analysis of the wave and the current. Secondly, with the flexible multi-body dynamics theory, the super long umbilical cable is analyzed, and the dynamic model of the launch and recovery system of seafloor drill is established. A new random numerical simulation method for evaluating dynamic response characteristics of the launch and recovery system is presented. Based on the dynamic model of the launch and recovery system of seafloor drill, the ocean wave and current environment as external excitation, and the corresponding dynamic random responses of the launch and recovery system are calculated and analyzed The pendulum rules of the seafloor drill and the tension of the umbilical cable are calculated and analyzed for the cases of seafloor drill at different sea state and water depths. Finally, the optimized control strategy of the winch is formed through the dynamic experiment of the launch and recovery system of the Sea bull's seafloor drill. The research project will provide theoretical support and technical reserve for the safe, reliable and accurate launch and recovery of seafloor equipment. It is of great significance to enhance the core competitiveness of China's seafloor resource exploitation.

深海海底钻机是海洋矿产资源勘探和海洋地质工程的关键装备，随着深海海底钻机向大孔深、大型化、多功能方向发展，深海海底钻机安全、可靠和精准下放和回收问题尤为突出。为此，项目针对深海海底钻机下放和回收过程中收放系统动力学与控制问题展开研究。首先，开展海洋环境波浪和海流特性分析，建立海洋环境波浪和海流相互耦合的数学模型。其次，开展超长铠装脐带缆柔性多体动力学分析，建立深海海底钻机收放系统动力学模型；提出深海海底钻机收放系统动力学随机数值分析方法，揭示深海海底钻机在不同海况和作业水深条件下的钻机摆动规律及铠装脐带缆张力的动态响应规律。最后，基于所研制的“海牛号”深海海底钻机，开展收放系统动力学实验研究，形成面向深海海底钻机的绞车优化控制策略。项目研究成果旨在为实现深海装备安全、可靠和精准下放和回收提供理论依据和技术支撑，这对于提升我国海底资源开发核心竞争力具有重要的意义。

本项目以深海海底钻机收放系统为对象，着眼于深海海底钻机安全、可靠和精准下放和回收问题，理论分析、数值仿真和实验研究相结合，开展海洋环境波浪和海流作用下深海海底钻机收放系统动力学与控制研究，通过项目研究，基本掌握了海洋环境载荷特性，构建了深海海底钻机收放系统动力学模型，提出了海洋环境波浪和海流作用下深海海底钻机收放系统动力学随机数值分析方法，揭示了深海海底钻机在不同海况和作业水深条件下的钻机摆动规律以及铠装脐带缆张力的动态响应规律，形成了绞车优化控制策略。主要表现：（1）构建了包括母船横摇、纵摇、升沉运动、波浪力载荷等计入海水阻尼的波浪-母船-钻机系统的深海海底钻机收放系统动力学模型。（2）开展了海洋环境载荷激励下深海海底钻机收放系统动态特性研究，提出了一种海洋环境载荷激励下的深海海底钻机收放系统动力学随机数值仿真方法。（3）在深海海底钻机收放系统动力学模型基础上，以随机不规则波浪的有义波高为特征值，应用雨流计数法分析深海海底钻机在随机不规则波浪激励下各动态响应的随机分布特征。系统分析了不同水深和海况条件下深海海底钻机摆动状况、升沉运动以及脐带缆张力的动态响应统计规律。（4）提出了海洋环境载荷激励下的基于随机数值仿真的收放装置可靠性分析方法，分析了不规则波浪激励下深海海底钻机收放装置关键零部件的动态响应和应力谱，计算出不同变异系数下收放液压缸活塞杆的可靠度。（5）对铠装脐带缆进行了高质量的网格划分，设置铠装脐带缆的材料参数以及接触类型，开展铠装脐带缆的有限元分析。（6）以验证分析结论为目标，开展深海海底钻机用铠装脐带缆张力与船舶运动响应试验，测试在复杂海洋环境载荷激励下船舶运动响应、铠装脐带缆张力响应，形成面向深海海底钻机的绞车优化控制策略。