Comprehensive performance evaluation method for irregular anchor chain storage space design

Abstract

The invention relates to the technical field of ship devices, in particular to a comprehensive performance evaluation method for irregular anchor chain storage space design. According to the method, dynamics / kinematics mathematical and mechanical models of long-chain in-cabin motion are established, the models are embedded into a simulation software adams solver, and a digital twin model of the long-chain in-cabin motion is formed on the basis, so that a long-chain in-cabin stacking test result corresponding to an irregular storage chain space design scheme is generated; secondly, according to result sets of different schemes, through statistics and analysis of anchor chain accumulation forms under different anchor chain numbers, a quantitative regression mode is adopted to provide a relational expression between the number of anchor chains in the irregular chain storage space and relevant parameters of a chain locker, and the relational expression can serve as a judgment basis for evaluating whether the irregular chain storage space meets normal storage of the anchor chains or not; the effective cabin capacity of the irregular storage chain space can be accurately and efficiently evaluated, the initial design accuracy of the irregular storage chain space of the anchor system is improved, and a reference basis is provided for verifying the design of the irregular storage chain space.

Description

Technical Field

[0001] The invention relates to the technical field of ship devices, and in particular to a comprehensive performance evaluation method for irregular anchor chain storage space design. Background Art

[0002] The anchor system is an important system to ensure the safe anchoring of ships. It is generally composed of an anchor lifting machine that drives the anchor chain, an anchor chain locker that stores the anchor chain, and anchor accessories such as a chain roller that guides or stops the movement of the anchor and anchor chain, a chain stopper, an anchor chain barrel, and an anchor lip. As a compartment space for storing anchor chains, the shape and size of the anchor chain locker should ensure that its effective volume is sufficient to store all the anchor chains designed to be placed in the compartment. In order to pursue superior overall performance, the bow line design of modern large surface ships is becoming increasingly thinner, which results in the bow anchor chain locker not having enough cabin space to be designed into a regular shape, such as a cylinder, rectangle or square.

[0003] In order to obtain sufficient effective cargo space to store the anchor chain, the prior art generally uses the hull outer plate, bulkhead and bottom structure to form an irregular shape similar to an inverted trapezoidal cross section (such as Figure 1 As shown in the figure). Due to the lack of evaluation standards and methods for the effective chain stacking volume of such irregular chain storage space at home and abroad, the shape and size of the irregular chain storage space formed are often not the optimal solution. This has two results: first, the design of the irregular chain storage space does not meet the chain storage requirements, resulting in rework and modification during the actual ship construction phase; second, the design margin of the irregular chain storage space is large, resulting in a waste of overall cabin space resources. Therefore, how to quantitatively evaluate whether the effective design capacity of the irregular chain storage space can meet the normal entry requirements of the anchor chain has become an important research topic. Summary of the invention

[0004] The technical problem to be solved by the present invention is to propose a comprehensive performance evaluation method for the design of irregular storage space for anchor chains, which can accurately and efficiently evaluate the effective capacity of the irregular storage space for anchor chains, improve the initialization design accuracy of the irregular storage space for anchor systems, and quickly determine the effectiveness of the design of the irregular storage space for anchor systems.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A comprehensive performance evaluation method for irregular anchor chain storage space design includes the following steps:

[0007] S1, determine the preliminary design scheme of irregular storage space according to the storage space design scheme of the parent ship or the same type of ship;

[0008] S2, establish the dynamics / kinematics model of the long chain entry motion;

[0009] S3, establishing a multi-rigid body system mechanical model of the long chain entry motion according to the entities, constraints and mechanical relationships determined in the preliminary design scheme;

[0010] S4, based on the dynamics / kinematics model and the multi-rigid body system mechanical model, determining the anchor chain constraint corresponding to the long chain entry motion to generate a digital twin model of the long chain entry motion;

[0011] S5, performing corresponding dynamics / kinematics simulation through the digital twin model, outputting simulation stacking test results of long chain entering the cabin, and evaluating the current storage chain space design scheme according to the simulation stacking test results;

[0012] S6, adopting multiple groups of different chain storage space design schemes, repeating steps S2 to S5, and obtaining multiple groups of long chain entry simulation stacking test results;

[0013] S7, statistical analysis was performed on multiple groups of long chain loading simulation test results to obtain the correlation between the dynamic volume of anchor chain loading and the volume of irregular chain storage space during the long chain loading movement.

[0014] Furthermore, in step S1, the preliminary design scheme includes the shape, size, material parameters and specific installation location of the irregular storage chain space.

[0015] Furthermore, in step S2, the establishment of a dynamics / kinematics model of the long chain entry motion includes:

[0016] S21, encode the long chain system composed of N connectors in an ascending order, and establish the basic coordinate system nX of the long chain system as a whole n Y n Z n and the local coordinate system kX of the kth connector k Y k Z k ;

[0017] S22, obtain the structural mass matrix and structural stiffness matrix of the kth connector through finite element analysis;

[0018] S23, converting the structural mass matrix and the structural stiffness matrix into the generalized mass M under the modal vector p (k) and the generalized stiffness matrix K p (k);

[0019] S24, establish the structural dynamics equation of the kth connector:

[0020]

[0021] Where: q kThe kth connector is located in the local coordinate system kX k Y k Z k The generalized coordinates in C P (k) is the damping coefficient matrix, Φ(k,k-1) is the transformation matrix operator of the flexible multibody system, f(k-1) is the generalized constraint force applied by the k-1th connector, f(k) is the generalized constraint force applied by the k+1th connector, and G is the gravity matrix;

[0022] S25, let k = 1, 2, ..., N, and recursively solve the structural dynamics equation of the entire long chain system.

[0023] Furthermore, in step S3, the multi-rigid body system mechanical model of the long chain entering the cabin includes:

[0024]

[0025] Where: δ = q 0 -q; λ=step(q,q 0 -d,1,q 0 ,0)

[0026] Where: F_impact is the damping force between two rigid bodies in the long chain system; q 0 is the initial distance between the two rigid bodies that are about to touch; q is the actual distance between the two rigid bodies; d q / d t is the relative velocity between the two rigid bodies; k is the stiffness coefficient; e is the collision force index; c max is the maximum damping coefficient between the two rigid bodies; d is the penetration depth of the two rigid bodies.

[0027] Furthermore, in step S4, generating a digital twin model of the long-chain entry motion includes:

[0028] S41, establish a three-dimensional solid model of the entire long chain system;

[0029] S42, according to the preliminary design scheme of the irregular storage chain space, establishing a three-dimensional assembly model of the long chain system installed in the irregular storage chain space;

[0030] S43, based on the dynamics / kinematics model and the multi-rigid body system mechanical model, using Matlab recursive function to determine the relevant constraints between the anchor chain components in the long chain entering the cabin movement;

[0031] S44, constructing a digital twin model of the long chain entering the cabin motion based on the three-dimensional assembly model and the relevant constraints between the anchor chain components in the long chain entering the cabin motion.

[0032] Furthermore, the related constraints between the anchor chain assemblies include: rotation constraints of adjacent anchor chains and collision constraints between any two anchor chains.

[0033] Furthermore, in step S5, the performing of the corresponding dynamics / kinematics simulation specifically includes:

[0034] S51, embedding the digital twin model of the long chain entry motion into a simulation software solver;

[0035] S52, setting a long chain entry motion solution in the simulation software solver;

[0036] S53, outputting the long chain entering the cabin simulation stacking test results.

[0037] Furthermore, the solution for setting the long chain entering the cabin movement specifically includes: setting the anchor chain motion drive parameter settings, the chain guide roller rolling friction parameter settings, the swivel link parameter settings, the shackle and anchor rod link parameter settings, the anchor rod and anchor claw link parameter settings, the swivel and anchor rod link parameter settings, the anchor system manual component contact parameter settings, and the anchor system automatic component contact parameter settings.

[0038] Furthermore, the long chain loading simulation stacking test results include a simulation data set of the number of anchor chains n, the anchor chain stacking height h, the stacked anchor chain volume V, and the approximate circle diameter D after the anchor chain stacking is completed.

[0039] Furthermore, the test results of multiple groups of long chain entering the cabin simulation stacking tests are statistically analyzed, specifically, regression analysis is performed on the simulation data set to obtain the relationship between the parameters and establish the correlation equation between the parameters, and then summarize the correlation law between the dynamic volume of anchor chain stacking and the volume of irregular chain storage space during the long chain entering the cabin movement.

[0040] Compared with the prior art, the present invention has the following main advantages:

[0041] The present invention establishes a dynamic / kinematic mathematical and mechanical model of the long chain entering a cabin movement, embeds the model into the simulation software Adams solver, and forms a digital twin model of the long chain entering a cabin movement on this basis, thereby generating a long chain entering a cabin stacking test result corresponding to the irregular chain storage space design scheme; then, for the result sets of different schemes, by statistically analyzing the anchor chain stacking morphology under different numbers of anchor chains, a quantitative regression method is used to propose a relationship between the number of anchor chains and relevant parameters of the anchor chain locker under the irregular chain storage space, which can be used as a judgment basis for evaluating whether the irregular chain storage space meets the normal storage of the anchor chain, can accurately and efficiently evaluate the effective cabin capacity of the irregular chain storage space, improve the initialization design accuracy of the irregular chain storage space of the anchor system, can quickly judge the effectiveness of the irregular chain storage space design of the anchor system, and provide a reference basis for verifying the irregular chain storage space design. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of an irregular anchor chain storage space (inverted trapezoidal shape) of the present invention;

[0043] Figure 2 A flow chart of the evaluation method for designing irregular storage chain space of the anchor system of the present invention;

[0044] Figure 3 This is a schematic diagram of judging the contact state of the anchor chain of the present invention;

[0045] Figure 4 The flowchart of the algorithm for solving the dynamics / kinematics mathematical model of the long chain entering the cabin motion of the present invention;

[0046] Figure 5 A schematic diagram of the steps for generating a digital twin model of the long-chain cabin entry motion of the present invention;

[0047] Figure 6 Schematic diagram of the regression curve between the number n of anchor chains and the stacking height h of the present invention;

[0048] Figure 7 Schematic diagram of the regression curve between the number n of anchor chains and the stacking volume V of the present invention;

[0049] Figure 8 It is a schematic diagram of the regression curve between the number n of anchor chains and the diameter D of the approximate circle at the bottom of the pile according to the present invention;

[0050] Fig. 9 This is a schematic diagram of the partial assembly of the long chain into the cabin of the present invention;

[0051] Figures 10 to 17 They are schematic diagrams of the status of the first section, 300, 600, 900, 1200, 1500, 1800 and 2100 anchor chains entering the cabin respectively. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0053] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0054] Embodiment 1: This embodiment provides a comprehensive performance evaluation method for designing an irregular anchor chain storage space. Figure 2 As shown in the figure, firstly, the preliminary scheme design of the irregular chain storage space of the anchor system is carried out through the scheme of the mother ship or the same type of ship, and the corresponding dynamics / kinematic model of the long chain entering the cabin is established. According to the entities, constraints and mechanical relationships determined in the preliminary scheme, a multi-rigid body system mechanical model is formed, and the digital twin model of the long chain entering the cabin motion is quickly generated by the intelligent setting algorithm. The corresponding dynamics / kinematic simulation is carried out, and the irregular chain storage space scheme that meets the requirements is output through optimization iteration. In this process, the effective empirical formula of the irregular chain storage space is summarized to guide the initial scheme design of the subsequent ship.

[0055] (1) Establish the dynamics / kinematics mathematical and mechanical model of the long chain entry motion

[0056] The motion process of the anchor chain is abstracted into a multi-rigid body dynamics model composed of a large range of relatively moving objects. The basic mechanical principles are used to establish a stylized dynamic mathematical model that can be applied to any topology. The long chain multi-rigid body system is divided into: components, constraints, forces and custom parts. For each component, 6 first-order dynamic equations (describing the relationship between force and acceleration) and 6 first-order kinematic equations (describing the relationship between position and velocity) are established. For each constraint, several algebraic constraint equations are listed (the number of equations is the same as the number of degrees of freedom it restricts), and the characteristics of multiple forces are provided. On this basis, a dynamic equation for the long chain motion is derived that can be described in coordinates.

[0057] First, the long chain entry and opening chain system is coded in an ascending manner, and the corresponding basic coordinate system nX is established. n Y n Z n and the local coordinate system kX k Y k Z k . And the coordinate origin is located on the hinge axis, and the Z axis coincides with the hinge axis.

[0058] In a multi-body system consisting of N connected bodies, we randomly select a flexible body coded as k and analyze it using standard finite element analysis software. Assume that the kth flexible body is composed of n s (k) rigid nodes are connected to each other, and the jth node on the kth flexible body is connected to the jth node on the kth flexible body. k The coordinate system fixed to the kth flexible body is kX k Y k Z k In this coordinate system, the structural mass matrix of the kth flexible body can be obtained by finite element analysis: and the structural stiffness matrix Then the second-order differential equation is established based on the structural mass matrix and the structural stiffness matrix:

[0059]

[0060] Where: q k kX is the coordinate system kX of the kth flexible body consolidation k Y k Z k The generalized coordinates in . Solving the eigenvalues ​​of this differential equation, we obtain the modal vector matrix of the k-th flexible body P(k)=col{P j (k)}. j (k) represents the modal vector of the jth node, expressed as:

[0061] P j (k) = [P ij (k),L,P mj (k)] (2)

[0062] Since the structural mass matrix and structural stiffness matrix are coordinate systems kX k Y k Z k The coupling matrix in needs to be converted into the generalized mass and generalized stiffness matrices under the modal vector:

[0063]

[0064] B(k) in the formula is the transformation of the node coordinate velocity of all nodes on the kth flexible body into the coordinate system kX k Y k Z k The transformation matrix of the speed.

[0065] From the long chain of flexible multi-body chains, take any flexible body k for force analysis. It is subject to the generalized constraint force f(k-1) of the outer k-1 flexible body and the generalized constraint force f(k) of the inner k+1 flexible body. At the same time, it is also subject to its own gravity. Therefore, the structural dynamics equation of flexible body k is:

[0066]

[0067] Where: C P (k) is the damping coefficient matrix, φ(k,k-1) is the transformation matrix operator of the flexible multi-body system, and G is the gravity matrix corresponding to the generalized coordinates. For the value of k in the formula, k=1,2,…,N, the structural dynamics equation of the multi-body system can be derived:

[0068]

[0069] Where: M is the system generalized mass matrix operator; C is the system generalized damping matrix operator; T is the generalized force vector. Since the equation is obtained by recursively converting the structural dynamics equations of all connectors in the system under local coordinates to the basic coordinates, the modal analysis of the entire system can be performed under the basic coordinates to obtain the corresponding system modal vectors, and the low-order natural frequencies can be obtained using the Ritz method.

[0070] From the structural dynamics equation analysis of the flexible body k, it can be seen that if f(k) is regarded as R m dimensional state vector, φ(k,k-1) is considered as R m×m dimensional state transfer matrix, and the combination of other items is regarded as the dynamic noise driving matrix Γ(k)∈R m×r The product of white noise W(k)∈Rr. This dynamic equation becomes the standard form of Kalman filtering. With the help of Kalman filtering and Bryson-Frazier smoothing wave, the continuous time state space expression of the flexible multi-body system is transformed into a discrete time state space expression. The vibration characteristics of the connecting hinge can be determined at each step of the recursion. This fundamentally improves the computational efficiency O(n) of structural dynamics analysis and the accuracy of the computational results.

[0071] Based on the principle that momentum conservation and angular momentum conservation are satisfied during the movement of the anchor chain, whether it is contact or collision, the integral calculation method of the existing solver is optimized using Lagrange theory. The impact function model is used to calculate the magnitude of the contact force. The impact function model is a nonlinear spring-damping model that involves many parameters and a large amount of calculation. However, since the velocity is continuous, the collision force can be calculated, and to a certain extent, the contact collision process can be simulated more realistically. Therefore, the impact function method is often used in contact collision simulation. The contact force calculated by the impact function method consists of two parts, one is the elastic force and the other is the damping force. The damping force is generated by the relative velocity, and the function formula is as follows:

[0072]

[0073] Where: δ = q 0 -q; λ=step(q,q 0 -d,1,q 0 ,0)

[0074] Where: q 0 ——The initial distance between the two rigid bodies that are about to touch; q——The actual distance between the two rigid bodies; d q / d t ——relative speed between two rigid bodies; k——rigidity coefficient; e——collision force index; c max ——maximum damping coefficient; d——cut-in depth, which determines when the damping force reaches its maximum.

[0075] In order to keep the damping force continuous during the rigid body collision, a piecewise function is used in the formula, which is in the form of step(x,x 0 ,h o ,x 1 ,h 1 ).

[0076]

[0077] Where: a = h 1 -h 0 ; Δ=(xx 0 ) / (x 1 -x 0 ).

[0078] In order to describe and judge the contact state of the rigid body system during the collision process, it is assumed that there are n p There are contact points where contact may occur. p , check how many of these contact points with a higher contact probability at each moment of motion meet the conditions for collision, that is, there is indeed contact. Then the number of collisions that occurred is n s Points form a set I s For set I s The closest distance between a point and a rigid body must be zero, that is, the relative distance g between them in the normal direction. N =0, collision status judgment calculation is required. s The relative velocity in the normal direction n k contact points, represented as set I k I k The contact collision force needs to be calculated for the points in . When the contact is continuous, if Indicates that the contact state is terminated. When the contact is terminated, the normal relative acceleration can be used The normal contact force λ can also be used N OK. See the contact status judgment diagram Figure 3 , the algorithm description flowchart is shown in Figure 4 .

[0079] (2) Establishing a digital twin model of long-chain entry motion

[0080] Using the established dynamics / kinematics model of the long-chain entry motion, the algorithm embedding based on the commercial simulation design software Adams solver is completed, and on this basis, a digital twin model of the long-chain entry motion is constructed. The specific steps are shown in Figure 5 .

[0081] Firstly, according to the working data of each entity component of the long chain entering the cabin, the corresponding three-dimensional entity model is established to ensure that the size of each model is correct and the center of gravity position is correct. Then, based on the preliminary plan of irregular chain storage space, the entity models of the long chain entering the cabin are assembled into an assembly model with accurate relative position relationship. Then, by setting the kinematic / dynamic constraints of each entity component model, a digital twin model of the long chain entering the cabin motion is constructed, in which the automatic contact setting between the anchor chain components is realized by Matlab recursive function. Based on the commercial simulation software Adams solver embedded with the dynamic / kinematic mechanics model of the long chain entering the cabin motion, the solution scheme for the long chain entering the cabin motion is set, including parameters such as stiffness, material damping, penetration depth, Coulomb friction, static and dynamic friction speed, coefficient, etc. Finally, the long chain entering the cabin stacking test results are output through the solution operation to evaluate the rationality and effectiveness of the irregular chain storage space design.

[0082] (3) Summarize the relationship between the dynamic volume of anchor chain accumulation and the volume of irregular chain storage space during the movement of long chain into the cabin

[0083] By continuously adjusting the irregular chain storage space scheme, multiple groups of long chain loading test results can be output. For each group of results, the segmented annotation technology is used to divide the entire long chain into several sets, analyze the parameters of each set during the movement and accumulation process, and track the accumulation form of each group of anchor chains in real time. After each group of anchor chains is accumulated, the stacking height, the approximate circular area of ​​the stacking after spreading out, and the volume of the stacking are measured and calculated. As the anchor chain stacking movement time changes, the number of anchor chains will gradually increase. Therefore, the simulation data set of the number of anchor chains n, the anchor chain stacking height h, the accumulated anchor chain volume V, and the approximate circle diameter D after the anchor chain stacking is completed can be obtained during the anchor chain accumulation process. Through the regression analysis of the data set, the relationship between the parameters can be obtained and the correlation equation can be established. The established equation reflects the correlation law between the dynamic volume of the anchor chain accumulation and the irregular chain storage space volume during the long chain loading movement.

[0084] The data set formed in Example 3 is analyzed, and the relationship between the stacking height h and the number of anchor chains n is satisfied (see the relationship between the number of anchor chains and the stacking height Figure 6 ):

[0085] h=10 0.795 ×n 0.957 , let k 11 =10 0.795 , then h=k 11 ·n 0.957 (9)

[0086] The relationship between the accumulation volume V and the number of anchor chains n is as follows (see the relationship between the number of anchor chains and the accumulation volume Figure 7 ):

[0087] V=102 ×n 3.35 , let k 12 =10 2 , then V = k 12 ×n 3.35 (10)

[0088] The relationship between the diameter D of the bottom surface of the pile approximate circle and the number n of anchor chains is as follows (see the relationship between the number of anchor chains and the diameter of the approximate circle at the bottom of the pile for details). Figure 8 ):

[0089] D=10 0.843 ·n 1.16 , let k 2 =10 0.843 , then D = k 2 ·n 1.16 (11)

[0090] The trend of anchor chain stacking height changing with the number of anchor chains is shown in Fig. 9 , the accumulation volume and height change trend diagram is shown in Fig. 9 .

[0091] Embodiment 2: This embodiment provides a comprehensive performance evaluation method for the design of an irregular anchor chain storage space, which mainly includes:

[0092] (1) In order to accurately and effectively evaluate the effective capacity of irregular chain storage space, a dynamic / kinematic model that can faithfully reflect the movement of long chains entering the cabin is constructed. There are a large number of complex discontinuous dynamic processes such as collisions and gaps in the analysis of anchor chain motion, which forms a working condition with infinite possible contact and collision. This variable topology dynamic / kinematic model problem brings many difficulties to model establishment, such as: the establishment of dynamic model elements such as collisions and gaps, the judgment of contact points, and the realization of system topology switching conditions. The dynamic models built into conventional dynamic simulation software cannot effectively solve discontinuous dynamic processes. The more moving components there are in the calculation, the more likely the equations will become ill-conditioned, and it is difficult to obtain effective solutions. Therefore, accurately constructing a dynamic / kinematic mathematical model of long chain entry motion is the basis for effectively evaluating the effective capacity of irregular chain storage space.

[0093] (2) After establishing the dynamics / kinematics mathematical model of the long chain entering the cabin, a digital twin model of the long chain entering the cabin is established based on this model. The biggest difference between this digital twin model and other multi-rigid body models is that this model involves a large number of moving components. Usually, the length of the anchor chain of a large surface ship can reach 350m, and the corresponding number of anchor chains exceeds 1,500. The corresponding anchor chain constraints include the rotation constraints of adjacent anchor chains and the collision constraints between any two anchor chains. Therefore, the number of motion constraints involved in this model can reach millions. Obviously, it is impossible to complete it manually. It is necessary to develop a matching intelligent setting algorithm with the help of the digital twin model to achieve the accurate establishment of the digital twin model of the long chain entering the cabin, so as to avoid problems such as omissions, wrong settings, and repeated settings that may occur in the subsequent calculation process.

[0094] (3) Combined with the simulation results of the digital twin model of the long chain entry motion, the empirical formula applicable to the effective volume of the chain stacking in the irregular chain storage space of the anchor system is summarized, refined, and summarized to improve the initialization design accuracy of the irregular chain storage space of the anchor system, and at the same time provide a measure to quickly judge the effectiveness of the design of the irregular chain storage space of the anchor system.

[0095] Example 3: This example takes a large ship as an example. The bow of a large ship has a special shape, and it is difficult to arrange the irregular chain storage space, and there is a risk of insufficient anchor chain storage space. The method of this patent is used to design the irregular chain storage space, specifically:

[0096] (1) 3D modeling and assembly of anchor parts to establish a digital twin model, such as Fig. 9 .

[0097] (2) In order to observe the accumulation effect of the anchor chain after entering the cabin, first move the starting position of the anchor chain to Fig.10 The position shown in the figure makes the leftmost anchor chain close to the bottom of the anchor chain locker. When the anchor chain moves, it will soon hit the bottom deck of the anchor chain locker and enter the accumulation process. Simulation tests of the accumulation process of 300, 600, 900, 1200, 1500, 1800, and 2100 anchor chains entering the locker were carried out to obtain the solution. Figures 11 to 17 shown.

[0098] (3) Based on the experimental solution set, the anchor chain entry process is analyzed in detail. Starting from the first section at the bottom, the entire long chain is divided into a group of ten sections for real-time tracking, and the relevant data are measured as shown in Table 1.

[0099] Table 1 Anchor chain stacking data table

[0100] N (number of anchor chains) 0 100 200 300 400 500 600 h(Stacking height) / m 0 0.72 0.72 0.72 0.72 0.72 0.72 <![CDATA[V (bulk volume) / m 3 > 0 0.13 0.13 0.13 0.13 0.13 0.13 N (number of anchor chains) 700 800 900 1000 1100 1200 1300 h(stacking height) / mm 2.17 2.17 2.17 2.17 2.17 2.17 2.17 <![CDATA[V (bulk volume) / m 3 > 0.93 0.93 0.93 0.93 0.93 0.93 0.93 N (number of anchor chains) 1400 1500 1600 1700 1800 1900 200 h(stacking height) / mm 3.00 3.00 3.00 3.00 3.00 3.00 3.00 <![CDATA[V (bulk volume) / m 3 > 1.85 1.85 1.85 1.85 1.85 1.85 1.85

[0101] (4) According to the experimental solution set, the irregular chain storage space layout plan is modified through simulation iteration, and finally the accurate design plan of the irregular chain storage space of the ship is determined. At the same time, in this process, the relationship between the dynamic volume of anchor chain accumulation and the volume of irregular chain storage space is summarized, as shown in formula (9) to formula (11) in Example 1.

[0102] Furthermore, all parts involved in this application that are not described in detail are the same as the prior art or are implemented using the prior art.

[0103] In summary:

[0104] The present invention establishes a dynamic / kinematic mathematical and mechanical model of the long chain entering a cabin movement, embeds the model into the simulation software Adams solver, and forms a digital twin model of the long chain entering a cabin movement on this basis, thereby generating a long chain entering a cabin stacking test result corresponding to the irregular chain storage space design scheme; then, for the result sets of different schemes, by statistically analyzing the anchor chain stacking morphology under different numbers of anchor chains, a quantitative regression method is used to propose a relationship between the number of anchor chains and relevant parameters of the anchor chain locker under the irregular chain storage space, which can be used as a judgment basis for evaluating whether the irregular chain storage space meets the normal storage of the anchor chain, can accurately and efficiently evaluate the effective cabin capacity of the irregular chain storage space, improve the initialization design accuracy of the irregular chain storage space of the anchor system, can quickly judge the effectiveness of the irregular chain storage space design of the anchor system, and provide a reference basis for verifying the irregular chain storage space design.

[0105] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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 present invention.

Claims

1. A comprehensive performance evaluation method for the design of irregular anchor chain storage space, characterized in that: The steps include: S1, determine the preliminary design scheme of irregular storage space according to the storage space design scheme of the parent ship or the same type of ship; S2, establish the dynamics / kinematics model of the long chain entry motion; S3, establishing a multi-rigid body system mechanical model of the long chain entry motion according to the entities, constraints and mechanical relationships determined in the preliminary design scheme; S4, based on the dynamics / kinematics model and the multi-rigid body system mechanical model, determining the anchor chain constraint corresponding to the long chain entry motion to generate a digital twin model of the long chain entry motion; S5, performing corresponding dynamics / kinematics simulation through the digital twin model, outputting simulation stacking test results of long chain entering the cabin, and evaluating the current storage chain space design scheme according to the simulation stacking test results; S6, adopting multiple groups of different chain storage space design schemes, repeating steps S2 to S5, and obtaining multiple groups of long chain entry simulation stacking test results; S7, statistical analysis was performed on multiple groups of long chain loading simulation test results to obtain the correlation between the dynamic volume of anchor chain loading and the volume of irregular chain storage space during the long chain loading movement.

2. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 1, characterized in that In step S1, the preliminary design scheme includes the shape, size, material parameters and specific installation location of the irregular storage chain space.

3. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 1, characterized in that In step S2, the establishment of a dynamic / kinematic model of the long chain entering the cabin movement includes: S21, encode the long chain system composed of N connectors in an ascending order, and establish the basic coordinate system nX of the long chain system as a whole n Y n Z n and the local coordinate system kX of the kth connector k Y k Z k ; S22, obtain the structural mass matrix and structural stiffness matrix of the kth connector through finite element analysis; S23, converting the structural mass matrix and the structural stiffness matrix into the generalized mass M under the modal vector p (k) and the generalized stiffness matrix K p (k); S24, establish the structural dynamics equation of the kth connector: Where: q k The kth connector is located in the local coordinate system kX k Y k Z k The generalized coordinates in C P (k) is the damping coefficient matrix, Φ(k,k-1) is the transformation matrix operator of the flexible multibody system, f(k-1) is the generalized constraint force applied by the k-1th connector, f(k) is the generalized constraint force applied by the k+1th connector, and G is the gravity matrix; S25, let k = 1, 2, ..., N, and recursively solve the structural dynamics equation of the entire long chain system.

4. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 3, characterized in that In step S3, the multi-rigid body system mechanical model of the long chain entering the cabin includes: in: λ=step(q,q0-d,1,q0,0) Where: F_impact is the damping force between the two rigid bodies in the long chain system; q0 is the initial distance between the two rigid bodies that are about to contact; q is the actual distance between the two rigid bodies; d q / d t is the relative velocity between the two rigid bodies; k is the stiffness coefficient; e is the collision force index; c max is the maximum damping coefficient between the two rigid bodies; d is the penetration depth of the two rigid bodies.

5. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 4, characterized in that In step S4, generating a digital twin model of the long-chain entry motion includes: S41, establish a three-dimensional solid model of the entire long chain system; S42, according to the preliminary design scheme of the irregular storage chain space, establishing a three-dimensional assembly model of the long chain system installed in the irregular storage chain space; S43, based on the dynamics / kinematics model and the multi-rigid body system mechanical model, using Matlab recursive function to determine the relevant constraints between the anchor chain components in the long chain entering the cabin movement; S44, constructing a digital twin model of the long chain entering the cabin motion based on the three-dimensional assembly model and the relevant constraints between the anchor chain components in the long chain entering the cabin motion.

6. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 5, characterized in that: The related constraints between the anchor chain assemblies include: rotation constraints of adjacent anchor chains and collision constraints between any two anchor chains.

7. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 5, characterized in that In step S5, the performing of the corresponding dynamics / kinematics simulation specifically includes: S51, embedding the digital twin model of the long chain entry motion into a simulation software solver; S52, setting a long chain entry motion solution in the simulation software solver; S53, outputting the long chain entering the cabin simulation stacking test results.

8. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 7, characterized in that: The solution for setting the long chain entry motion specifically includes: setting the anchor chain motion drive parameters, setting the chain guide roller rolling friction parameters, setting the swivel link parameters, setting the shackle and anchor link parameters, setting the anchor and anchor claw link parameters, setting the swivel and anchor link parameters, setting the anchor system manual component contact parameters, and setting the anchor system automatic component contact parameters.

9. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 7, characterized in that: The test results of long chain loading simulation stacking include simulation data sets of the number of anchor chains n, the anchor chain stacking height h, the stacked anchor chain volume V, and the approximate circle diameter D after the anchor chain stacking is completed.

10. A comprehensive performance evaluation method for irregular anchor chain storage space design according to claim 9, characterized in that: The statistical analysis of multiple groups of long chain entry simulation stacking test results is specifically carried out by performing regression analysis on the simulation data set to obtain the relationship between the parameters and establish the correlation equation between the parameters, and then summarize the correlation law between the dynamic volume of anchor chain stacking and the volume of irregular chain storage space during the long chain entry movement.

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