Joint simulation method for suspension type passive heave compensation device

Abstract

The invention discloses a joint simulation method for a suspension type passive heave compensation device, and belongs to the technical field of ocean engineering, and the method comprises the following steps: S1, employing OrcaFlex software to build an offshore operation system; s2, performing simulation modeling on the suspension type heave compensation system by using AMESim software; and S3, constructing a joint simulation data exchange iteration system by utilizing a Python script. By comprehensively analyzing the structure and dynamics of the suspension type heave compensation device, the performance and stability of the heave compensation device can be effectively improved by the joint simulation method. And by optimizing design parameters, the method can better adapt to different sea conditions, so that the safety and the accuracy of offshore operation are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering, and in particular relates to a joint simulation method for a suspended passive heave compensation device. Background Art

[0002] During offshore operations of marine engineering equipment, the offshore platform will experience irregular movements due to the influence of wind, waves, currents and other factors. These irregular movements pose a serious threat to the safety and accuracy of offshore operations. Among these irregular movements, the movement in the heave direction is one of the factors that has the greatest impact on offshore operations. Under the influence of heave movement, offshore operating equipment may experience problems such as inaccurate positioning, cable fatigue fracture, and equipment instability.

[0003] In order to reduce the impact of waves on the motion of ships and improve the adaptability and window period of offshore operations, heave compensation systems have been widely used in offshore operations. Traditional heave compensation systems are usually large and complex in structure. Suspended heave compensation devices are movable heave compensation devices installed between the crane and the hook. Compared with traditional heave compensation systems, suspended heave compensation devices have a wider range of applicable sea conditions on the basis of reducing energy consumption.

[0004] Since the manufacturing cost of heave compensation equipment is high, the cost of testing at sea is also high and the cycle is long. Simulation analysis of heave compensation equipment can greatly reduce the design cost. However, the traditional simulation method uses a single software for simulation analysis, which easily leads to the simulation results deviating from the actual system and reducing reliability.

[0005] Therefore, it is urgent to design a joint simulation method for a suspended passive heave compensation device to solve the above-mentioned problems. Summary of the invention

[0006] The object of the present invention is to provide a joint simulation method for a suspended passive heave compensation device, which has the advantages of improving the performance and stability of the suspended heave compensation device and solves the problems mentioned in the background technology.

[0007] To achieve the above-mentioned purpose, the specific technical scheme of the joint simulation method of a suspended passive heave compensation device of the present invention is as follows: A joint simulation method for a suspended passive heave compensation device comprises the following steps: S1. Use OrcaFlex software to build an offshore operation system; S2. Use AMESim software to simulate and model the suspended heave compensation system; S3. Use Python scripts to build a joint simulation data exchange iteration system.

[0008] Furthermore, in S1, a rigid connection model of the operating vessel, ship-borne crane, wire rope, suspended heave compensation device, and load is established in the OrcaFlex software.

[0009] Furthermore, Python scripts are used to control the input of the above OrcaFlex simulation model and monitor the output.

[0010] Furthermore, the monitored output variables are the heave motion of the ship, denoted as X_ship, and the tension value of the wire rope, denoted as F_wire. The output variables will be interacted with the OrcaFlex software in real time through the Python script, and the input of the AMESim software at the next moment will be obtained through iterative calculation of the two software.

[0011] Furthermore, in S2, the suspension heave compensation system is simulated and modeled in AMESim software, the suspension heave compensation system is simplified into a hydraulic energy storage system, and the dynamic response process of the suspension heave compensation device is simulated in AMESim software.

[0012] Furthermore, Python scripts are used to control the input of the AMESim simulation model and monitor the output.

[0013] Furthermore, the monitored output variables are the load heave displacement, i.e. X_load, and the load borne by the heave compensation device, i.e. F_device. The output variables will be interacted with the OrcaFlex software in real time through the Python script, and the input variables for the joint simulation analysis at the next moment will be obtained through iterative calculations of the two software.

[0014] Furthermore, in S3, the Python script debugs the entire joint simulation, and the information interaction between the two software can be achieved by extracting and exchanging the calculation results of OrcaFlex and AMESim software through Python.

[0015] Furthermore, the output of AMESim software contains the input of OrcaFlex software, while the output of OrcaFlex software contains the input of AMESim software. The input and output variables of the two software are coupled with each other. Using a single software for simulation analysis will reduce the reliability of the simulation results.

[0016] Further, the Python script includes the following steps: S11, data exchange; S12, iterative calculation; S13, real-time monitoring and debugging; S14. Data recording and visualization.

[0017] The present invention has the following advantages: (1) By comprehensively analyzing the structure and dynamics of the suspended heave compensation device, the joint simulation method can effectively improve the performance and stability of the heave compensation device. By optimizing the design parameters, it can better adapt to different sea conditions, thereby improving the safety and accuracy of offshore operations.

[0018] (2) The co-simulation-based approach can reduce the need for physical testing and lower the design cost of suspended passive heave compensation devices. By simulating offshore operations in a virtual environment, engineers and researchers can conduct performance evaluation and optimize designs more economically, reducing the resources and time required for actual testing.

[0019] (3) The joint simulation of two different software can more realistically simulate the motion response of the offshore operation system and the dynamic response of the suspended heave compensation device under complex sea conditions. This helps to obtain more accurate and reliable simulation analysis results, providing a more reliable basis for subsequent performance optimization and design. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure of the simulation modeling of the offshore operation system of the present invention; Figure 2 It is a structural schematic diagram of the suspended passive heave compensation device of the present invention; Figure 3 It is a structural schematic diagram of the joint simulation method of the present invention; Explanation of the marks in the figure: 1. Ship; 11. Crane; 12. Wire rope; 2. Load; 21. Sling; 3. Suspended heave compensation device; 31. Gas cylinder; 32. Accumulator; 33. Oil tank; 34. Hydraulic cylinder; 4. Ship heave displacement input terminal; 41. Heave compensation device load output terminal; 42. Load displacement output terminal; 43. Wire rope load input terminal. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0022] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0023] Please refer to the attached Figure 1 To Attachment Figure 3 A joint simulation method of a suspended passive heave compensation device of the present invention is described.

[0024] At present, due to the high manufacturing cost of heave compensation equipment, the cost of testing at sea is also high and the cycle is long. Simulation analysis of heave compensation equipment can greatly reduce the design cost. However, the traditional simulation method uses a single software for simulation analysis, which easily leads to the simulation results deviating from the actual system and reducing reliability.

[0025] Therefore, the joint simulation method includes the following steps: S1. Use OrcaFlex software to build an offshore operation system; In S1, the offshore operation system is simulated and modeled in the OrcaFlex software. Taking the offshore lifting operation as an example, a rigid connection model of the operating vessel 1, the ship-borne crane 11, the wire rope 12, the suspended heave compensation device 3, and the load 2 is established in the OrcaFlex software.

[0026] The suspended heave compensating device 3 is connected to a ship-borne crane 11 via a steel wire rope 12 . The ship-borne crane 11 is located on the operating vessel 1 . The lower part of the suspended heave compensating device 3 is connected to the load 2 via a sling 21 .

[0027] The suspended heave compensation device 3 includes a hydraulic cylinder 34 and an accumulator 32. The hydraulic cylinder 34 is connected to the crane 11. A sealing plug is slidably connected inside the hydraulic cylinder 34. Hydraulic oil is arranged inside the hydraulic cylinder 34. A hydraulic rod is fixedly connected to the sealing plug. The hydraulic rod is connected to the load 2. A piston is arranged inside the accumulator 32. The piston can slide relative to the accumulator 32. The accumulator 32 is divided into an air chamber and an oil chamber by the piston. The oil chamber is connected to one end of the hydraulic cylinder 34. The end of the hydraulic cylinder 34 away from the oil chamber is connected to the oil tank 33, and the air chamber is connected to the gas cylinder 31.

[0028] Python scripts are used to control the input of the OrcaFlex simulation model and monitor the output.

[0029] Since the impact of wave motion on offshore operations is mainly manifested as the heave motion of ship 1 and the change in tension of wire rope 12, the main monitored output variables are the heave motion of ship 1, denoted as X_ship, and the tension value of wire rope 12, denoted as F_wire. The output variables will be interacted with OrcaFlex software in real time through Python scripts, and the input of AMESim software at the next moment will be obtained through iterative calculation of the two software.

[0030] The variables input into the OrcaFlex software mainly include: sea conditions (defined according to the actual sea conditions of offshore operations), the tension provided by the heave compensation device, denoted as F_device (iterated from the results calculated by OrcaFlex and AMESim), and the displacement of load 2, denoted as X_load (iterated from the results calculated by OrcaFlex and AMESim).

[0031] S2. Use AMESim software to simulate and model the suspended heave compensation system; In S2, the suspension heave compensation system is simulated and modeled in AMESim software, the suspension heave compensation system is simplified into a hydraulic energy storage system, and the dynamic response process of the suspension heave compensation device 3 is simulated in AMESim software.

[0032] Python scripts are used to control the input of the AMESim simulation model and monitor the output.

[0033] The main focus is still on heave displacement and load conditions, so the monitored output variables are load 2 heave displacement, i.e. X_load, and the load borne by the heave compensation device, i.e. F_device. The output variables will be interacted with the OrcaFlex software in real time through Python scripts, and the input variables for the next joint simulation analysis will be obtained through iterative calculations of the two software.

[0034] The input variables in AMESim software mainly include: the heave motion of the ship, i.e. X_ship (iterated according to the results calculated by AMESim and OrcaFlex), the tension value of the wire rope 12, i.e. F_wire (iterated according to the results calculated by AMESim and OrcaFlex) and the parameters that need to be optimized for the heave compensation device (various parameters of the hydraulic cylinder 34, including the cylinder diameter, stroke and pressure level of the hydraulic cylinder 34; parameters of the accumulator 32, including the volume and pressure level of the accumulator 32; parameters of the gas cylinder 31, including the volume of the gas cylinder 31 and the pre-charge pressure of the gas cylinder 31; the volume of the oil tank 33, the diameter and length of the hydraulic pipeline and other parameters).

[0035] S3. Use Python scripts to build a joint simulation data exchange iteration system.

[0036] In S3, Python scripts debug the entire joint simulation, and the extraction and exchange of calculation results of OrcaFlex and AMESim software through Python can realize information interaction between the two software.

[0037] The output of AMESim software contains the input of OrcaFlex software, while the output of OrcaFlex software contains the input of AMESim software. The input and output variables of the two software are coupled with each other. Using a single software for simulation analysis will reduce the reliability of the simulation results.

[0038] Therefore, the present invention interacts the input and output data of the two softwares through Python scripts, and realizes the joint simulation of "OrcaFlex-Python-AMESim". In order to optimize the performance of the suspended passive heave compensation device, different sea conditions can be set, different parameters can be set for the compensation device, and then joint simulation can be performed to explore its performance improvement. According to the results of the joint simulation, the optimal design of the compensation device can be realized.

[0039] The Python script consists of the following steps: S11, data exchange; The Python script needs to extract the required data from the OrcaFlex and AMESim software, including the heave motion of the vessel 1, the tension value of the wire rope 12, the displacement and load of the heave compensation device, etc. These data will be used for iterative calculations and real-time monitoring.

[0040] S12, iterative calculation; Based on the real-time monitoring data, the Python script needs to calculate the input variables for the next moment, and these calculation results will be passed to OrcaFlex and AMESim software for simulation at the next moment. In each iteration step, the Python script will collect data, calculate new parameters and update the simulation before continuing to the next iteration.

[0041] S13, real-time monitoring and debugging; The Python script needs to monitor the simulation process in real time to ensure the accuracy and reliability of the simulation results. During the simulation process, if there are abnormalities or unexpected results, the script will be debugged and optimized accordingly.

[0042] S14, data recording and visualization; The Python script also needs to record important data during the simulation process for subsequent analysis and optimization. In addition, in order to visualize the simulation results, the Python script can also use a graphical interface to display the simulation data.

[0043] Through these functions of the Python script module, data exchange and iterative calculation between OrcaFlex and AMESim can be realized, and the simulation model of the offshore operation system can be further optimized and improved. In the entire joint simulation process, the compensation effect of the heave compensation device under different parameters can be calculated, and simulation analysis can be performed on different sea conditions, so as to achieve the optimization of design parameters and performance of the suspended passive heave compensation device, which helps to improve the safety and efficiency of offshore operations and provide more valuable reference for actual offshore operations.

[0044] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A joint simulation method for a suspended passive heave compensation device, characterized in that: The following steps are involved: S1. Use OrcaFlex software to build an offshore operation system; S2. Use AMESim software to simulate and model the suspended heave compensation system; S3. Use Python scripts to build a joint simulation data exchange iteration system.

2. The joint simulation method of the suspended passive heave compensation device according to claim 1, characterized in that: In S1, a rigid connection model of the operating vessel, ship-borne crane, wire rope, suspended heave compensation device, and load is established in OrcaFlex software.

3. The joint simulation method of the suspended passive heave compensation device according to claim 2 is characterized in that: Python scripts are used to control the input of the OrcaFlex simulation model and monitor the output.

4. The joint simulation method of the suspended passive heave compensation device according to claim 3 is characterized in that: The monitored output variables are the heave motion of the ship, denoted as X_ship, and the tension value of the wire rope, denoted as F_wire. The output variables will be interacted with the OrcaFlex software in real time through the Python script, and the input of the AMESim software at the next moment will be obtained through iterative calculation of the two software.

5. The joint simulation method of the suspended passive heave compensation device according to claim 1, characterized in that: In S2, the suspension heave compensation system is simulated and modeled in AMESim software, the suspension heave compensation system is simplified into a hydraulic energy storage system, and the dynamic response process of the suspension heave compensation device is simulated in AMESim software.

6. The joint simulation method of the suspended passive heave compensation device according to claim 5, characterized in that: Python scripts are used to control the input of the AMESim simulation model and monitor the output.

7. The joint simulation method of the suspended passive heave compensation device according to claim 6, characterized in that: The monitored output variables are load heave displacement, i.e. X_load, and the load borne by the heave compensation device, i.e. F_device. The output variables will be interacted with OrcaFlex software in real time through Python scripts, and the input variables for the joint simulation analysis at the next moment will be obtained through iterative calculations of the two software.

8. The joint simulation method of the suspended passive heave compensation device according to claim 1, characterized in that: In S3, Python scripts debug the entire joint simulation, and the extraction and exchange of calculation results of OrcaFlex and AMESim software through Python can realize information interaction between the two software.

9. The joint simulation method of the suspended passive heave compensation device according to claim 8, characterized in that: The output of AMESim software contains the input of OrcaFlex software, while the output of OrcaFlex software contains the input of AMESim software. The input and output variables of the two software are coupled with each other. Using a single software for simulation analysis will reduce the reliability of the simulation results.

10. The joint simulation method of the suspended passive heave compensation device according to claim 1, characterized in that: The Python script consists of the following steps: S11, data exchange; S12, iterative calculation; S13, real-time monitoring and debugging; S14. Data recording and visualization.

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