Joint simulation method for structural collision action in offshore converter station float-over installation process

Abstract

The application belongs to the technical field of marine information engineering, and discloses a joint simulation method for structural collision effect in the floating installation process of a marine converter station, which comprises the following steps: S1, setting the sea state parameters of an operation sea area, the geometric parameters and material parameters of a floating system; S2, initializing a hydrodynamic model and a multi-body model; S3, using the hydrodynamic model to solve the barge motion equation at the current time step to obtain barge motion data; S4, calculating the LMU contact force and the DSU contact force at the current time step according to the barge motion data in step S3, and feeding back the LMU contact force and the DSU contact force to the hydrodynamic model to update the barge external load; S5, repeating steps S3-S4 until the simulation in the set time step is completed, and then outputting the simulation result. The application can give consideration to the accurate calculation of the dynamic motion of the floating body and the accurate simulation of the complex contact-nonlinear restoring force of the LMU, and realizes high-precision simulation analysis of the whole process of the floating installation of the marine converter station.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering, in particular to a joint simulation method for structural collision action in the float-over installation process of an offshore converter station. BACKGROUND

[0002] The offshore converter station is a core key device of a deep-sea floating wind farm long-distance power transmission system. In the float-over installation process, the accurate docking of the upper block and the foundation relies on the pile leg docking unit (LMU) to realize buffer and vibration reduction, and the support and stability of the upper block and the barge rely on the deck support device (DSU) to guarantee. Among them, the LMU as the core buffer component, its structural characteristics and contact behavior directly determine the impact load control accuracy of the installation process: on the one hand, the LMU adopts a special geometric design of a tapered tip and a matching tapered receiver, and the tapered tip needs to be accurately captured through the tapered receiver during docking, and flexible components such as horizontal rubber rings and vertical rubber rings are arranged between the tapered tip and the receiver, forming a complex multi-interface contact system; on the other hand, the LMU buffer process presents a significant nonlinear restoring force characteristic - the elastic section relies on the compression deformation of the rubber ring to provide flexible buffer, and the rigid section relies on the steel structure frame to realize limited support, and the stiffness and damping parameters dynamically change in the continuous operation process, so it is difficult for traditional simulation methods to accurately characterize this nonlinear mechanical behavior.

[0003] In the prior art, the simulation of the float-over installation of the offshore converter station is mainly realized by using a single software (such as hydrodynamic software or multi-body dynamics software), which has obvious limitations: if only hydrodynamic analysis tools are used, although the motion of the barge under the action of waves and mooring coupling can be calculated, the complex geometric contact process of the tapered tip and the receiver of the LMU cannot be restored, and it is even more difficult to simulate the nonlinear restoring force mediated by the rubber ring; if only multi-body dynamics software is used, although a simple contact model can be constructed, the dynamic motion of the barge under real sea conditions cannot be accurately coupled, resulting in a significant deviation between the calculated LMU collision force and the actual engineering scenario, and it is impossible to provide reliable basis for the safety control of the installation process.

[0004] In summary, it is necessary to design a joint simulation method for structural collision action in the float-over installation process of an offshore converter station to solve the above problems in the prior art. SUMMARY

[0005] The present application provides a joint simulation method for structural collision action in the float-over installation process of an offshore converter station, which solves the problem that the simulation process of the existing float-over installation process of an offshore converter station is not accurate, and cannot provide reliable basis for the safety control of the installation process.

[0006] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] The joint simulation method for structural collision action in the float-over installation process of an offshore converter station comprises the following steps:

[0008] S1, set the sea state parameters of the operation sea area, the geometric parameters and material parameters of the float-over system;

[0009] S2, initialize the hydrodynamic model and the multi-body model;

[0010] S3, solve the barge motion equation at the current time step by using the hydrodynamic model to obtain barge motion data; then transmit the barge motion data to the multi-body model;

[0011] S4, calculate the LMU contact force and the DSU contact force at the current time step by taking the barge motion data in step S3 as the input quantity of the multi-body model, and feed back the LMU contact force and the DSU contact force to the hydrodynamic model to update the barge external load; calculate the upper block attitude equation by using the multi-body model;

[0012] S5, repeat steps S3-S4 until the simulation within the set time step is completed, and then output the barge motion trajectory, the upper block attitude change, the LMU contact force time history curve and the DSU contact force time history curve.

[0013] In some embodiments of the present application, the calculation formula of the LMU contact force F LMU in step S4 is:

[0014] ;

[0015] Wherein, K is the contact stiffness, δ L is the normal penetration depth of the contact point of the upper block and the jacket, c is the nonlinear damping coefficient; V L is the normal relative velocity of the contact point of the upper block and the jacket.

[0016] In some embodiments of the present application, the calculation formula of the DSU contact force F DSU in step S4 is:

[0017] ;

[0018] Wherein, K is the contact stiffness, δ D is the normal penetration depth of the contact point of the upper block and the barge, e is the stiffness contribution factor, c is the nonlinear damping coefficient; V D is the normal relative velocity of the contact point of the upper block and the barge.

[0019] In some embodiments of the present application, the value condition of the nonlinear damping coefficient c includes:

[0020] when δ < δ cr is the critical penetration depth, δ is the normal penetration depth of the contact point, cr when δ ≥ δ cr ; c(δ) = c max ; where c max = 0.01K.

[0021] In some embodiments of the present application, the barge motion equation in step S3 is as follows:

[0022]

[0023] wherein m is the barge mass, is the added mass of the barge at infinite frequency, is the barge's time-domain motion, is the retardation function, is the still water restoring stiffness, is the wave force, is the mooring force, is the load of the topside acting on the DSU.

[0024] In some embodiments of the present application, in step S4, based on the rigid body dynamics formula, the topside motion formula is as follows:

[0025]

[0026] wherein M t is the topside mass, is the topside attitude, is the LMU contact force, is the reaction force.

[0027] In some embodiments of the present application, in step S1, the sea state parameters include the significant wave height, the period and the wave direction; the geometric parameters of the float-over system include the barge size, the topside weight, the LMU and the DSU structure parameters; the material parameters include the rubber elastic modulus and the steel structure stiffness.

[0028] In some embodiments of the present application, a joint simulation system for structural collision effect in the float-over installation process of the offshore converter station is provided, which is used to implement the joint simulation method, and comprises:

[0029] a hydrodynamic analysis module, which is used to set parameters and construct a barge hydrodynamics model, and is also used to calculate barge motion parameters;

[0030] ​a multi-body dynamics analysis module, which is used to set parameters and build a full-scale multi-body coupling model, and is also used to calculate the DSU contact force and the LMU contact force;

[0031] a data interaction module, which is used to transmit the barge motion parameters output by the hydrodynamic analysis module to the multi-body dynamics analysis module at each time step, and feed back the DSU contact force and the LMU contact force output by the multi-body dynamics analysis module to the hydrodynamic analysis module;

[0032] a communication module, which is used to communicate with external devices.

[0033] In some embodiments of the present application, an electronic device is provided, comprising:

[0034] a processor, and a memory and a transceiver connected to the processor in communication;

[0035] The memory stores computer execution instructions; and the transceiver is used to transceive data.

[0036] The processor executes the computer execution instructions stored in the memory to implement the joint simulation method described above.

[0037] In some embodiments of the present application, a computer readable storage medium is provided, characterized in that,

[0038] The computer readable storage medium stores computer execution instructions therein, and the computer execution instructions are executed by a processor to implement the joint simulation method described above.

[0039] The technical solution of the present application has the following technical effects relative to the prior art:

[0040] Through real-time bidirectional coupling of hydrodynamics and multi-body dynamics, the present application can take into account both accurate calculation of dynamic motion of a floating body and accurate simulation of complex contact-nonlinear restoring force of an LMU, and can realize accurate simulation of structural dynamic response and collision load during installation, and high-precision simulation analysis of the whole process of floating installation of an offshore converter station; and can provide reliable technical support for load prediction and safety control of floating installation of an offshore converter station. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0042] Figure 1 The structural schematic diagram of the floating installation process of the offshore converter station shown in the embodiments of the present application.

[0043] Figure 2 A flowchart of a joint simulation method for structural collision effect in the float-over installation process of the offshore converter station according to an embodiment of the present application.

[0044] Figure 3 A structural diagram of the LMU according to an embodiment of the present application.

[0045] Figure 4 A structural diagram of a joint simulation system for structural collision effect in the float-over installation process of the offshore converter station according to an embodiment of the present application.

[0046] Figure 5 A structural diagram of the electronic device.

[0047] Reference signs: 10, barge; 20, upper block; 30, jacket; 40, mooring system; 50, lifting system; 60, DSU; 70, LMU; 71, conical receiver; 72, elastic section; 73, rigid section; 80, spudcan.

[0048] 100, joint simulation system; 110, hydrodynamic analysis module; 120, multi-body dynamics analysis module; 130, data interaction module; 140, communication module; 200, electronic device; 210, processor; 220, memory; 230, transceiver. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0050] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting” should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0051] Reference Figure 1As shown, for the offshore converter station float-over installation process: a barge is provided with a lifting system, the top of the lifting system is provided with a deck support device (DSU) to support the upper block, the bottom of the upper block is provided with a spudcan, and the top of the jacket is provided with a leg mating unit (LMU); the barge carrying the upper block drives into the jacket, and stops in the jacket through the mooring system; when the spudcan is aligned with the LMU, the upper block is lowered by the lifting system, the contact force of the LMU increases, and the contact force of the DSU decreases.

[0052] Since the LMU is a core buffer component, its structural characteristics and contact behavior directly determine the impact load control accuracy of the installation process, the present application proposes a hydrodynamics-multi-body dynamics joint simulation method for complex contact collision and nonlinear restoring force of the leg mating unit (LMU) in the offshore converter station float-over installation process. The specific scheme is as follows:

[0053] Embodiment 1: refer to Figure 2 As shown, the joint simulation method for structural collision in the offshore converter station float-over installation process includes the following steps:

[0054] S1, setting the sea state parameters of the operation sea area, the geometric parameters and material parameters of the float-over system;

[0055] Specifically, the sea state parameters include significant wave height, period and wave direction.

[0056] The geometric parameters of the float-over system include the size of the barge, the weight of the upper block, the structural parameters of the LMU and the DSU.

[0057] For the LMU and DSU structure, refer to Figure 3 As shown, from top to bottom, it includes a conical receiver, an elastic section and a rigid section; taking the LMU as an example, in the modeling process, for the conical receiver, the taper of the spudcan and the inner hole profile of the receiver are accurately reproduced to ensure that the geometric constraints of the spudcan capturing, guiding and limiting during the docking process are consistent with the actual situation; for the elastic section, horizontal / vertical rubber rings are used, which need to be modeled according to the actual size and arrangement position (inner wall of the receiver, outer wall of the spudcan) to restore the compression deformation path of the rubber ring during contact; the elastic section also includes a sandbox structure, and the rigid section includes a steel structure frame, the geometric boundary between the elastic section and the rigid section needs to be clear to ensure that the switching between elastic buffering and rigid limiting during contact matches the actual working condition.

[0058] For the material parameters, specifically the rubber elastic modulus and steel structure stiffness in the LMU and DSU structure.

[0059] S2, initialize the hydrodynamic model and the multi-body model;

[0060] For the hydrodynamic model, a Matlab / Simulink self-developed calculation program can be used in this embodiment, i.e. importing the frequency domain hydrodynamic data and mooring parameters in Matlab / Simulink;

[0061] For the multi-body model, Adams software can be used in this embodiment; in this initialization step, the multi-body structure involved in the actual float-over installation process is assembled, and the contact parameters are defined.

[0062] S3, solving the barge motion equation at the current time step by using the hydrodynamic model to obtain barge motion data; then transmitting the barge motion data to the multi-body model;

[0063] From this step, iterative calculation is performed, first using Matlab / Simulink to solve the barge motion according to the current external load (wave force, mooring force, initial ballast force); the specific process is as follows:

[0064] In the float-over installation process, the main hydrodynamic load is the wave load, and the numerical model established in this embodiment is based on three-dimensional potential flow theory, and the motion of the barge is solved by frequency-time conversion method. The frequency domain hydrodynamic data of the barge is calculated by using hydrodynamic analysis software, and the time domain motion equation of the barge is converted by using the Cummins equation according to the frequency domain hydrodynamic data:

[0065]

[0066] In the formula, is the mass of the barge, is the added mass of the barge when the frequency is infinite, is the time history motion of the barge, is the delay function, is the still water restoring stiffness, is the wave force, is the mooring force, is the load of the upper block acting on the DSU.

[0067] The delay function can be obtained by the following formula:

[0068]

[0069] In the formula, B(ω) is the added damping coefficient matrix.

[0070] The wave force can be obtained by convoluting the wave force transfer function and the wave surface time sequence :

[0071]

[0072] The wave force transfer function can be expressed as:

[0073]

[0074] wherein is the wave force transfer function in the frequency domain, is the wave frequency.

[0075] wave surface time history The sequence is generated according to the short-term distribution characteristics of the wave in the working sea area by the JONSWAP spectrum:

[0076]

[0077] wherein , is the wave spectrum, and the JONSWAP spectrum is used in the embodiment.

[0078] The mooring force F of the barge mooring is simplified as a linear equivalent stiffness is calculated.

[0079]

[0080] The DSU contact force F DSU is calculated by the following step S4 and is fed back in real time, and the DSU contact force F at the initial time of simulation is DSU is the gravity of the upper block.

[0081] In the embodiment, the barge motion is obtained by solving the time-domain equation by using a common numerical iteration method.

[0082] S4, the barge motion data in step S3 is taken as the input quantity of the multi-body model to calculate the LMU contact force and the DSU contact force at the current time step, and the LMU contact force and the DSU contact force are fed back to the hydrodynamic model to update the external load of the barge; the multi-body model is used to calculate the attitude equation of the upper block;

[0083] The specific calculation process is as follows:

[0084] S41, in the embodiment, Adams is used in combination with the barge motion data to simulate the LMU contact collision and the DSU support.

[0085] For the DSU contact force model: a lifting system is arranged on the barge deck, and the DSU is installed at the top end of the lifting system. The lifting system is provided with a kinematic pair, which can produce lifting movement in the vertical direction according to a predetermined trajectory, simulating the extension and contraction of the hydraulic rod when the lifting system is working. The upper block is supported on the DSU through the spudcan, and a contact force is arranged between the spudcan and the DSU. The contact is divided into two sections of elastic contact and rigid contact, and the contact force parameters of the two sections are set to be different. The spudcan first contacts the elastic section of the DSU, and after being compressed by about 0.3m, the spudcan starts to contact the rigid section, so as to simulate the change of the rigidity before and after the complete compression of the DSU. In addition, there is a friction force between the spudcan and the receptor for providing horizontal constraint.

[0086] DSU contact force F DSU The calculation formula is:

[0087] ;

[0088] Wherein, K is the contact stiffness, the value of the elastic section (rubber ring in this embodiment) K is 2000~5000N / mm (calibrated according to the test data of rubber material); the value of the rigid section (steel structure in this embodiment) is 10000~15000N / mm, realizing the nonlinear switching of the rigidity.

[0089] In the simulation process, the corresponding contact stiffness K needs to be set according to the characteristics of the DSU.

[0090] δ D (t) is the normal penetration depth of the contact point of the upper block and the barge; e is the rigidity contribution factor, the rubber ring of the elastic section takes 2.0~3.0, which matches the nonlinear compression characteristics of the rubber material; the steel structure of the rigid section takes 1.3~1.5, which matches the metal contact characteristics.

[0091] c is a nonlinear damping coefficient, which is a quantity related to the normal penetration depth of the contact point, and its value includes:

[0092] When δ D (t)<δ cr , δ cr is the critical penetration depth, and c(δ D (t))= ; when δ D ≥δ cr , c(δ D (t))=c max ; wherein, c max =0.01K, to ensure that the damping is dynamically adjusted with the penetration depth, so that the contact force curve is smooth without sudden change.

[0093] In the simulation process, the corresponding nonlinear damping coefficient needs to be set according to the characteristics of the DSU.

[0094] V D (t) is the normal relative velocity of the contact point between the upper block and the barge, V D (t) is the first derivative of δ D (t), representing the dynamic characteristics of the contact process.

[0095] For the LMU contact force model: refer to Figure 1 and 3 , the LMU is installed at the top of the jacket. The upper block is supported on the LMU through the spudcan on the edge leg, and a contact force is set between the spudcan and the LMU. The contact is divided into two sections, elastic contact and rigid contact, with different contact force parameters set for the two sections. The spudcan first contacts the elastic section of the LMU, and after compressing about 0.3m, the spudcan begins to contact the rigid section, simulating the change in stiffness before and after the LMU is fully compressed. In addition, there is a friction force between the spudcan and the receptor, which provides horizontal constraint.

[0096] The calculation formula of the LMU contact force F LMU is:

[0097] ;

[0098] Where K is the contact stiffness, the value of the elastic section (rubber ring in this embodiment) is 2000-5000 N / mm (calibrated according to the test data of rubber material); the value of the rigid section (steel structure in this embodiment) is 10000-15000 N / mm, realizing the nonlinear switching of stiffness.

[0099] In the simulation process, the corresponding contact stiffness K needs to be set according to the characteristics of the LMU.

[0100] δ L is the normal penetration depth of the contact point between the upper block and the jacket, e is the stiffness contribution factor, the rubber ring of the elastic section takes 2.0-3.0, which matches the nonlinear compression characteristics of the rubber material; the steel structure of the rigid section takes 1.3-1.5, which matches the metal contact characteristics.

[0101] c is the nonlinear damping coefficient; it is a quantity related to the normal penetration depth of the contact point, and its value includes:

[0102] When δ L < δ cr , δ cr is the critical penetration depth, c(δ L )= ; when δL ≥δ cr L = c max , where c max = 0.01K, which ensures that the damping is dynamically adjusted with the penetration depth, making the contact force curve smooth and without abrupt changes.

[0103] During the simulation, the corresponding nonlinear damping coefficient needs to be set according to the characteristics of the LMU.

[0104] V L is the normal relative velocity of the contact point between the upper block and the jacket, V L is the first derivative of δ L , representing the dynamic characteristics of the contact process.

[0105] Step S42, for the upper block motion, which is also calculated by Adams according to the LMU contact force and the DSU contact force in step S41, based on the rigid body dynamics formula, the upper block motion formula is as follows:

[0106]

[0107] In the formula, M t is the mass of the upper block, x t (t) is the attitude of the upper block, is the LMU contact force, is the reaction force.

[0108] Step S43, referring to Figure 2 , the LMU contact force and the DSU contact force in step S41 are fed back to Matlab / Simulink, and the barge external load is updated.

[0109] S5, judging whether the time sequence is ended, if not, repeating steps S3-S4; if the time sequence is ended, outputting the barge motion trajectory , the attitude change of the upper block , the LMU contact force time history and the DSU contact force time history curve.

[0110] The technical solution of the present application has the following technical effects compared with the prior art:

[0111] ​The application can consider the accurate calculation of the dynamic movement of the floating body and the accurate simulation of the complex contact-nonlinear restoring force of the LMU by the real-time bidirectional coupling of hydrodynamics-multiple body dynamics, realize the accurate simulation of the structural dynamic response and the collision load in the installation process, and realize the high-precision simulation analysis of the whole process of the floating installation of the offshore converter station; and provide reliable technical support for the load prediction and safety control of the floating installation of the offshore converter station.

[0112] Embodiment 2, reference Figure 4 As shown in the figure, a joint simulation system 100 for the structural collision action in the floating installation process of the offshore converter station is provided, comprising:

[0113] a hydrodynamic analysis module 110 for setting parameters and constructing a barge hydrodynamic model, and for calculating barge movement parameters;

[0114] Exemplarily, in the hydrodynamic analysis module, a Matlab / Simulink self-developed calculation program is adopted to construct a coupling dynamics model of the marine environment-mooring system-barge-ballast system-lifting system-LMU / DSU load, and to solve the time history movement of the barge (including the translational and rotational displacement and velocity) under the combined action of the wave, mooring, ballast and LMU / DSU feedback force;

[0115] a multiple body dynamics analysis module 120 for setting parameters and constructing a full-scale multiple body coupling model, and for calculating the DSU contact force and the LMU contact force;

[0116] Exemplarily, the Adams software is adopted to construct a full-scale multiple body coupling model of the barge-upper block-jacket-lifting system-DSU-LMU, to accurately simulate the contact collision of the LMU tip and the conical receiver, the nonlinear restoring force of the LMU buffer system, and to calculate the DSU contact force and the LMU contact force, with the barge movement data output by Matlab / Simulink as the input;

[0117] a data interaction module 130 for transmitting the barge movement parameters output by the hydrodynamic analysis module to the multiple body dynamics analysis module at each time step, and feeding back the DSU contact force and the LMU contact force output by the multiple body dynamics analysis module to the hydrodynamic analysis module;

[0118] Exemplarily, at each time step, Matlab / Simulink transmits barge motion parameters (displacement, velocity) to Adams in real time; after Adams completes multi-body dynamic response calculation, LMU contact force and DSU contact force are fed back to Matlab / Simulink, the external load borne by the barge is updated and the next time step is solved, forming a closed-loop iteration of motion calculation-contact simulation-force feedback-motion update, until the whole operation process simulation is completed.

[0119] The communication module 140 is configured to communicate with an external device.

[0120] It should be understood that the joint simulation system 100 herein is embodied in the form of functional modules. The term "module" herein can refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combination logic circuit, and / or other suitable components supporting the described functions. In an optional example, those skilled in the art can understand that the joint simulation system 100 can be embodied as the electronic device 200 in the above embodiment, or the functions of the electronic device 200 in the above embodiment can be integrated in the joint simulation system 100, and the joint simulation system 100 can be used to execute the respective processes and / or steps corresponding to the electronic device 200 in the above method embodiments. For the sake of brevity, details are not repeated here.

[0121] The joint simulation system 100 described above has the functions of performing the respective steps of the electronic device 200 in the joint simulation method of embodiment 1. The above functions can be implemented by hardware, or the corresponding software can be executed by hardware. The hardware or software includes one or more modules corresponding to the above functions. For example, the above acquisition module can be a communication interface, such as a transceiver interface.

[0122] In the embodiments of the present application, Figure 4 The joint simulation system 100 in the above embodiment can also be a chip or a chip system, such as a system on chip (SoC).

[0123] Referring to FIG. 1, Figure 5 In the present embodiment, an electronic device 200 is provided, comprising:

[0124] a processor 210, and a memory 220 and a transceiver 230 connected to the processor in communication;

[0125] The memory 220 stores computer execution instructions; the transceiver 230 is configured to transceive data;

[0126] The processor 210 executes computer-executed instructions stored in the memory 220 to implement the co-simulation method in Embodiment 1.

[0127] It should be understood that the electronic device 200 can be used to perform the respective steps and / or procedures in the above-mentioned method embodiments. Optionally, the memory 220 can include read-only memory and random access memory, and provide instructions and data to the processor. A part of the memory 220 can also include non-volatile random access memory. For example, the memory 220 can also store device type information. The processor 210 can be used to execute the instructions stored in the memory 220, and when the processor 210 executes the instructions, the processor 210 can perform the respective steps and / or procedures in the above-mentioned method embodiments.

[0128] It should be understood that in the embodiments of the present application, the processor 210 can be a central processing unit (CPU), and the processor 210 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0129] In the implementation process, the steps of the above-mentioned method can be completed by the integrated logic circuit of hardware in the processor 210 or the instructions in the form of software. The steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware processor execution completion, or executed by a combination of hardware and software modules in the processor 210. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the memory, and the processor executes the instructions in the memory to complete the steps of the above-mentioned method in combination with the hardware thereof. To avoid repetition, it will not be described in detail here.

[0130] Embodiment 3: In this embodiment, a computer-readable storage medium is provided, and the computer-readable storage medium stores computer-executed instructions. The computer-executed instructions are executed by a processor to implement the co-simulation method in Embodiment 1.

[0131] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. The division of the units is merely logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0132] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0133] In addition, the functional units in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0134] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0135] In the description of the above-described embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0136] The above merely provides specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for co-simulation of structural impact actions during float-over installation of a marine converter station, characterized in that, The method comprises the following steps: S1, setting sea state parameters of a work sea area, geometric parameters and material parameters of a float-over system; S2, initializing a hydrodynamic model and a multi-body model; S3, solving a barge motion equation at a current time step by using the hydrodynamic model to obtain barge motion data; and then transmitting the barge motion data to the multi-body model; The barge motion equation is as follows: ； where M b is the barge mass, is the added mass of the barge at infinite frequency, is the time domain motion of the barge, is the retardation function, K is the still water restoring stiffness, is the wave force, is the mooring force, is the load from the topside acting at the DSU; S4, taking the barge motion data in step S3 as an input quantity of the multi-body model to calculate LMU contact force and DSU contact force at the current time step, and feeding back the LMU contact force and the DSU contact force to the hydrodynamic model to update barge external load; calculating an upper block attitude equation by using the multi-body model; and based on a rigid body dynamics formula, the upper block motion formula is as follows: ； where M t is the upper block mass, is the upper block attitude, is the LMU contact force, is the reaction force; S5, repeating steps S3-S4 until simulation in the set time step is completed, and then outputting barge motion trajectory, upper block attitude change, LMU contact force time history curve and DSU contact force time history curve.

2. The co-simulation method of claim 1, wherein, The force F in step S4 in which the LMU contacts LMU The calculation formula is: ; where K is the contact stiffness, e is the stiffness contribution factor, δ L is the normal penetration depth of the contact point of the topside with the jacket, c is the non-linear damping coefficient; V L is the normal relative velocity of the contact point of the topside with the jacket.

3. The co-simulation method of claim 1, wherein, The DSU contact force F in the step S4 DSU The calculation formula is: ; where K is the contact stiffness, δ D is the normal penetration depth of the contact point of the upper block with the barge, e is the stiffness contribution factor, c is the nonlinear damping coefficient; V D is the normal relative velocity of the contact point of the upper block with the barge.

4. The co-simulation method of claim 2 or 3, wherein, The value condition of the nonlinear damping coefficient c includes: When δ < δ cr , δ cr is the critical penetration depth, δ is the normal penetration depth at the contact point, ; when δ ≥ δ cr , c(δ) = c max , where c max = 0.01K.

5. The co-simulation method of claim 1, wherein, The sea state parameters in the step S1 include effective wave height, period and wave direction; the geometric parameters of the float-over system include barge size, upper block weight, LMU and DSU structure parameters; and the material parameters include rubber elastic modulus and steel structure stiffness.

6. A joint simulation system of structural impact action in a floating installation process of a marine converter station, characterized in that, To realize the joint simulation method as claimed in any one of claims 1-5, comprising: a hydrodynamic analysis module for setting parameters and constructing a barge hydrodynamics model, and for calculating barge motion parameters; a multi-body dynamics analysis module for setting parameters and constructing a full-scale multi-body coupling model, and for calculating DSU contact force and LMU contact force; a data interaction module for transmitting the barge motion parameters output by the hydrodynamic analysis module to the multi-body dynamics analysis module at each time step, and feeding back the DSU contact force and the LMU contact force output by the multi-body dynamics analysis module to the hydrodynamic analysis module; a communication module for communicating with external devices.

7. An electronic device, comprising: Comprise: a processor, a memory and a transceiver connected in communication with the processor; the memory stores computer execution instructions; and the transceiver is used for transmitting and receiving data; the processor executes the computer execution instructions stored in the memory to realize the joint simulation method as claimed in any one of claims 1-5.

8. A computer readable storage medium, characterized in that, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to realize the joint simulation method as claimed in any one of claims 1-5.

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