深海采矿扬矿管的纵向振动分析.pdf

万方数据 中图分类号U173.91学校代码10424 UDC622密级公开 山东科技大学 工学硕士学位论文 深深海海采采矿矿扬扬矿矿管管的的纵纵向向振振动动分分析析 Longitudinal VibrationsAnalysis of Lifting Pipe in Deep-sea Mining 作者左帅入学时间2017 年 9 月 导师肖林京职称教授 申请学位工学硕士所在学院机械电子工程学院 学科（类别）机械工程方向（领域）机械制造及其自动化 答辩日期2020年6月7日提交日期2020年6月22日 万方数据 万方数据 万方数据 万方数据 摘摘要要 近年来，随着陆地矿产资源逐渐减少，各个国家将目光投放到了海洋矿产资源上。目 前主要利用集矿机加管道式提升系统开采海洋矿产资源。扬矿管在复杂的海洋环境中承受 着各种力的作用，产生复杂的变形。另外，船的升沉会使扬矿管产生轴向振动。影响扬矿 管的使用寿命，更严重的会引起重大事故。为解决上述问题，本研究分别针对等直径管和 阶梯管两种不同的扬矿管进行静力学和振动分析，并采用附加吸振器的方法抑制管道的振 动，其工作内容如下 根据实际对扬矿子系统进行简化，建立扬矿管的物理模型。对扬矿管进行受力分析， 采用力学的相关知识推导了扬矿管的重力、浮力以及泵和中间矿仓的重力与浮力，然后选 用线性 Airy 波理论分析海浪，采用莫里森方程推导了海浪和海流对扬矿管产生的液动力。 采用有限元法对扬矿管进行静力学分析，采用 ABAQUS 软件计算出在波流联合的作 用下，当采矿船分别在静止和以不同的速度匀速拖航时等直径管和阶梯管的横向偏移与弯 矩。随后采用有限元理论分析扬矿管的净伸长量、轴向力以及轴向应力。并采用 MATLAB 进行计算，绘制出两种管道的净伸长量、轴向力以及轴向应力随海水深度的变化关系。 在前面分析的基础上，确定采矿船的升沉运动幅值，之后采用有限元法建立了扬矿管 的纵向振动方程，并采用中心差分法分析扬矿管的振动幅值。在管道上取 4 个样点，分别 绘制出两种扬矿管的幅值和轴向应力随时间的变化曲线。在计算出振幅与轴向应力随时间 的变化关系后，鉴于幅值过大会影响管道的稳定性与使用寿命，因此采用附加动力吸振器 的方法对管道进行减振研究工作。本研究假设在中间矿仓上附加动力吸振器，计算扬矿管 的振幅随时间的变化关系。 关键词扬矿管；横向偏移；伸长量；振幅；轴向应力；减振研究 万方数据 Abstract With the decrease of land mineral resources, many countries have divert their attentions to marine mineral resources. At present, the mining equipment and pipeline lifting system are mainly used to mine marine mineral resources.The lifting pipe is subjected to various forces in a complex marine environment and undergoes very complex deation. In addition, the heave motion of the mining vessel will lead to the longitudinal vibration of the lifting pipe, affecting the service life of the mining pipe and even causing major accidents.In order to solve the above problems, this study separately made static analysis and dynamic analysis on two different pipes--equal diameter pipe and stepped pipe, and used additional vibration absorber to suppress the vibration of the pipes. The work operates as follows First, the lifting sub-system is simplified to obtain the physical model of the lifting sub-system. The force analysis of the lifting pipe is then carried out, and the relevant knowledge of mechanics is used to get the values of gravity, buoyancy and the gravity of the pump and the intermediate ore bin in the seawater;The linear Airy wave theory is selected to analyze the ocean waves and the Morrison equation is used to get the value ofhydrodynamic forces generated by the ocean waves and currents on the lifting pipe. Then, the finite element is used to do static analysis of the lifting pipe. The ABAQUS software is used to calculate lateral displacements and bending moment of the equal diameter pipe and the stepped pipe when the mining ship is stationary and towing at different uni speeds under the interactive Effects of wave and current. Subsequently, the finite element theory is applied to analyze the net elongation, axial force and axial stress of the lifting pipe. The relations between the net elongation, the axial force and the axial stress of the two kinds of pipes with the depth of sea water is present by MATLAB. Based on the previous analyses, the amplitude of the heave motion of the mining vessel is confirmed, and then the finite element is used to analyze. The longitudinal vibration equation of the lifting pipe is set up, and the central difference is used to calculate the vibration amplitude of the lifting pipe and the axial stress changing with time. 4 points on the pipeline is selected to draw the corresponding curve. After knowing the changing relationship between the amplitude and the axial stress with time, because huge amplitude will affect the stability and service life of the pipeline, the author used additional dynamic vibration absorber to study the vibration reduction of the pipeline.In this study, the relation that the vibration amplitudes of the two kinds of pipelines will change with time is got by assuming that the dynamic vibration absorbers are attached to the intermediate ore bin.In this study, the relation of the amplitude between the lifting pipes mentioned above. 万方数据 Key words Lifting pipe; Lateral displacement; Net elongation; Amplitude; Axial stress; Antivibration research 万方数据 目录目录 图清单..............................................................................................................................................I 表清单...........................................................................................................................................IV 变量注释表...................................................................................................................................VI 1 绪论.............................................................................................................................................1 1.1 研究背景及意义...............................................................................................................1 1.2 国内外研究现状...............................................................................................................2 1.3 主要研究内容...................................................................................................................8 2 扬矿管模型的建立与外部环境载荷分析...............................................................................10 2.1 模型建立..........................................................................................................................10 2.2 扬矿子系统的重力和浮力.............................................................................................. 11 2.3 海浪载荷的计算............................................................................................................. 11 2.4 海流载荷的计算.............................................................................................................19 2.5 波流联合作用下液动力的推导.....................................................................................20 2.6 本章小结.........................................................................................................................21 3 扬矿管的静态特性分析...........................................................................................................22 3.1 扬矿子系统的设计参数..................................................................................................22 3.2 扬矿管的横向静力学特性分析.....................................................................................23 3.3 扬矿管的纵向静力学特性分析.....................................................................................28 3.4 本章小结.........................................................................................................................33 4 扬矿管的纵向振动分析...........................................................................................................34 4.1 采矿船升沉幅值的确定..................................................................................................35 4.2 扬矿管的振动响应分析.................................................................................................36 4.3 仿真结果.........................................................................................................................43 4.4 本章小结.........................................................................................................................51 5 减振研究...................................................................................................................................53 5.1 吸振器的减振原理.........................................................................................................53 5.2 附加动力吸振器的物理模型..........................................................................................54 5.3 仿真结果..........................................................................................................................56 5.4 本章小结..........................................................................................................................56 万方数据 6 结论与展望...............................................................................................................................58 6.1 结论.................................................................................................................................58 6.2 展望.................................................................................................................................59 参考文献 作者简历 致谢 万方数据 Contents List of Figures.................................................................................................................................I List of Tables................................................................................................................................IV List of variables........................................................................................................................... VI 1 Introduction.................................................................................................................................1 1.1 Research background and significance...............................................................................1 1.2 Research status at home and abroad...................................................................................2 1.3 Main research contents.......................................................................................................8 2 Lifting pipe model building and external environment load analysis................................. 10 2.1 Model building................................................................................................................. 10 2.2 Gravity and buoyancy of lifting pipeline system..............................................................11 2.3 Calculation of wave load.................................................................................................. 11 2.4 Calculation of the ocean current load...............................................................................19 2.5 Hydrodynamic derivation with combined action of waves and currents......................... 20 2.6 Summary...........................................................................................................................21 3Analyses on static rule of the lifting pipe................................................................................22 3.1 design parameters of lifting pipeline system....................................................................22 3.2 Lateral static features analysis of the lifting pipe.............................................................23 3.3 Longitudinal statics Analysis of the lifting Pipe...............................................................28 3.4 Summary...........................................................................................................................33 4 Longitudinal vibrations analysis of the lifting pipe...............................................................34 4.1 Heave amplitude confirmation of the mining ship...........................................................35 4.2 Vibration response analysis of the lifting pipe................................................................. 36 4.3 Results of simulation........................................................................................................43 4.4 Summary...........................................................................................................................51 5Antivibration research..............................................................................................................53 5.1 Principle of dynamic vibration absorber.......................................................................... 53 5.2 Mechanical model of the attached dynamic vibration absorber.......................................54 5.3 Results of simulation analysis.......................................................................................... 56 5.4 Summary...........................................................................................................................56 万方数据 6 Conclusion and Prospect..........................................................................................................58 6.1 Conclusion........................................................................................................................58 6.2 Prospect............................................................................................................................ 59 References Author Resume Acknowledgements 万方数据 I 图清单 图序号图名称页码 图 1.1 连续斗绳开采系统 2 Fig.1.1 The mining system of continuous bucket rope 2 图 1.2集矿机加管道提升系统3 Fig.1.2 Mining machine plus pipeline lifting system 3 图 1.3 湖试试验中的集矿机 4 Fig.1.3 Mining machine in lake test 4 图 1.4鲲龙 500”海底集矿车4 Fig.1.4 Kunlong 500“deep sea mining truck 4 图 1.5 日本研制出的集矿机 7 Fig.1.5 Mining machine developed in Japan 7 图 1.6印度进行的海试试验7 Fig.1.6 Sea trials conducted in India 7 图 1.7 韩国 2015 年进行的湖试试验 7 Fig.1.7 Sea trials conducted in Korea 2015 7 图 2.1扬矿管的受力分析图10 Fig.2.1 Stress analysis chart of lifting pipe 10 图 2.2 波浪的描述 13 Fig.2.2 Description of waves 13 图 2.3海况下的波面函数15 Fig.2.3 Wave front function at initial moment 15 图 2.4 海洋表面水质点的速度和加速度随时间的变化关系 15 Fig.2.4 The time-changing relation between the velocity and accelerated sp eed of water particles on the surface of the ocean 15 图 2.5 水质点的水平速度在随海水深度的变化关系 16 Fig.2.5 The horizontal velocity of water particles changes with the depth of sea water 16 图 2.6 水质点的水平加速度在随海水深度的变化关系 16 Fig.2.6 Horizontal accelerated speed of the water particles changes with the depth of sea water 16 图 2.7 两种波浪力采用的计算方法 17 Fig.2.7 The applicable scope of two wave force calculation s 17 图 2.8直立柱体波浪力计算坐标系统18 Fig.2.8 Coordinate system for wave force calculation of upright cylinder 18 图 2.9 海流随水深的变化关系 20 Fig.2.9 Changes in current velocity with seawater depth 20 图 2.10扬矿管所受的液动力随水深的变化关系21 Fig.2.10The relationship between the hydrodynamic force of the lifting pipe 21 万方数据 II and the water depth 图 3.1 扬矿管的横向偏移随海水深度的变化关系 26 Fig.3.1 The change of horizontal displacement of lifting pipe with the depth of sea water 26 图 3.2 扬矿管的弯矩随深度的变化关系 26 Fig.3.2 Variation of bending moment of lifting pipe with depth 26 图 3.3 扬矿管匀速拖航时的横向偏移 27 Fig.3.3Lateral displacement of the lifting pipe at different towing speeds27 图 3.4 倾斜管扬矿管的受力分析图 28 Fig.3.4 Stress Analysis of the inclined lifting mine pipe 28 图 3.5 扬矿管单元受力分析 29 Fig.3.5Stress analysis of lifting tube unit29 图 3.6 扬矿管的净伸长量随深度的变化关系 31 Fig.3.6 Change of net elongation of lifting pipe with depth 31 图 3.7 扬矿管的轴向应力随深度的变化关系 31 Fig.3.7Change of axial stress of lifting pipe with depth31 图 3.8 扬矿管的轴向力随深度的变化关系 32 Fig.3.8 Change of axial force of lifting pipe with depth 32 图 4.1 采矿船在海洋表面的运动情况 34 Fig.4.1Movement of mining ships on the ocean surface34 图 4.2 扬矿管振型函数曲线 41 Fig.4.2 Shaft pipe vibration mode function 41 图 4.3 等直径管在各样点处位移随时间的变化关系（无阻尼） 43 Fig.4.3 The change of displacement of uni lifting pipe with time at various points without damping 43 图 4.4 阶梯管在各样点处位移随时间的变化关系（无阻尼） 44 Fig.4.4 The change of displacement of optimum stepped lifting pipe with time at various points without damping 44 图 4.5 等直径管在各样点处位移随时间的变化关系（有阻尼） 45 Fig.4.5 The change o