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外文翻译--载有柔性吊杆起重泊船的动态响应分析 英文版.pdf

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外文翻译--载有柔性吊杆起重泊船的动态响应分析 英文版.pdf

RENETAL/JZHEJIANGUNIVSCIA200891263126DYNAMICRESPONSEANALYSISOFAMOOREDCRANESHIPWITHAFLEXIBLEBOOMHUILIREN†,XUELINWANG†‡,YUJINHU,CHENGGANGLISCHOOLOFMECHANICALSCIENCEANDENGINEERING,HUAZHONGUNIVERSITYOFSCIENCEANDTECHNOLOGY,WUHAN430074,CHINA†EMAILRENHUSTSINACOM;W_STEVENSINACOMRECEIVEDJUNE12,2007;REVISIONACCEPTEDAUG5,2007;PUBLISHEDONLINEDEC14,2007ABSTRACTTHEDYNAMICRESPONSEOFMOOREDCRANESHIPISSTUDIEDGOVERNINGEQUATIONSFORTHEDYNAMICRESPONSEOFACRANESHIPCOUPLEDWITHTHEPENDULUMMOTIONOFTHEPAYLOADAREDERIVEDBASEDONLAGRANGE’SEQUATIONSTHEBOOMISMODELEDBASEDONFINITEELEMENTMETHOD,WHILETHEPAYLOADISMODELEDASAPLANARPENDULUMOFPOINTMASSTHEDYNAMICRESPONSEWASSTUDIEDUSINGNUMERICALMETHODTHECALCULATIONRESULTSSHOWTHATTHELARGEAMPLITUDERESPONSESOCCURATWAVEPERIODSNEARTHENATURALPERIODOFTHEPAYLOADLOADSWINGANGLEISSMALLERFORCRANESHIPWITHFLEXIBLEBOOM,INCOMPARISONWITHRIGIDBOOMTHESHIPSURGEMOTIONSHAVELARGEVIBRATIONSFORCRANESHIPWITHFLEXIBLEBOOM,WHICHWERENOTOBSERVEDFORARIGIDBOOMTHEANALYSISIDENTIFIESTHESIGNIFICANCEOFKEYPARAMETERSANDREVEALSHOWTHESYSTEMDESIGNCANBEADJUSTEDTOAVOIDCRITICALCONDITIONSKEYWORDSDYNAMICRESPONSE,MOOREDCRANESHIP,FINITEELEMENTMETHOD,RIGIDFLEXIBLECOUPLINGDYNAMICMODELDOI101631/JZUSA071308DOCUMENTCODEACLCNUMBERU61535INTRODUCTIONFLOATINGCRANESPLAYANIMPORTANTROLEINTHEOFFSHOREPROJECTSHOWEVER,THESEAWAVESHAKESTHECRANESHIPANDMAYEXCITEITSLARGEMOVEMENTFORHEAVYDUTYLIFTING,THEOPERATIONSOFCRANESHIPINWAVES,EVENASTHESEAISRELATIVELYQUIET,AREOFTENRESTRICTEDBYTHEEXCESSIVEMOTIONSOFTHECRANELOADINSOMECASES,THEDYNAMICALBEHAVIOROFFLOATINGCRANESISTOBECONSIDEREDASCRITICALWITHRESPECTTOTHEAMPLITUDESOFTHEMOTIONOFTHESHIPORTHELOADASMALLDISTURBANCEOFTHESYSTEMCANCAUSETHECOLLISIONBETWEENTHELOADANDTHESHIPOROTHEROBJECTSINADDITION,THEAMPLITUDEOFTHEMOTIONOFTHESHIPHASTOSTAYSMALLINORDERTOACHIEVETHEREQUIREDPRECISELYPOSITIONINGANDTOAVOIDDAMAGESTOTHEMOORINGSYSTEMTHEINVESTIGATIONOFCRANESHIPDYNAMICSHASBEENOFINTERESTINALARGENUMBEROFRECENTRESEARCHESDONGANDHAN,1993;MASOUDETAL,2004;ELLERMANN,2005ARIGIDMASSLESSCABLEANDMASSIVEPOINTLOADWEREUSEDTOMODELTHECRANELOADSYSTEM,ANDTHERESULTSOFTHECOMPUTERSIMULATIONWEREVERIFIEDEXPERIMENTALLYUSINGATHREEDEGREEOFFREEDOMDOFSHIPMOTIONSIMULATIONPLATFORMHENRYETAL,2001THEMETHODOFMULTIPLESCALESISUSEDTOANALYZETHEDYNAMICSOFACABLESUSPENDEDLOADTHERESULTSSHOWTHATAPARAMETRICEXCITATIONATTWICETHENATURALFREQUENCYLEADSTOSUDDENJUMPSINTHERESPONSEASTHECABLEISUNREELEDCHINETAL,2001CARGOPENDULATIONCONTROLOFANELASTICSHIPMOUNTEDCRANEWASCONCERNEDUSINGTHEMARYLANDRIGGINGSYSTEMTHEDYNAMICSOFTHECRANEISDESCRIBEDBYAMULTIMODELPROBLEMDEPENDINGONTHECURRENTCABLELENGTHANDBOOMLUFFANGLEAVARIABLEGAINOBSERVERANDAVARIABLEGAINCONTROLLERAREDESIGNEDSIMULATIONANDEXPERIMENTALRESULTSSHOWEDTHATTHEEXPRESSEDCONTROLSTRATEGYHASASIGNIFICANTEFFECTONSUPPRESSINGTHEVIBRATIONSFORDIFFERENTOPERATINGCONDITIONSANDPAYLOADMASSESALSWEITIANDSFFKER,2007ASTHEFIRSTAPPROACHFOREVALUATINGTHEDYNAMJOURNALOFZHEJIANGUNIVERSITYSCIENCEAISSN1673565XPRINT;ISSN18621775ONLINEWWWZJUEDUCN/JZUS;WWWSPRINGERLINKCOMEMAILJZUSZJUEDUCN‡CORRESPONDINGAUTHORPROJECTSUPPORTEDBYTHENATIONALNATURALSCIENCEFOUNDATIONOFCHINANO50675077ANDTHERESEARCHFUNDFORTHEDOCTORALPROGRAMOFHIGHEREDUCATIONOFCHINANO20050487047RENETAL/JZHEJIANGUNIVSCIA200891263127ICSOFACRANESHIP,ALINEARTHEORETICALMODELISUSEDTHELINEARDIFFERENTIALEQUATIONOFMOTIONISDERIVEDUNDERTHEASSUMPTIONOFSMALLAMPLITUDES,ANDDOESNOTCONSIDEROCCURRINGRESTORINGFORCESADYNAMICMODELWASESTABLISHEDUSINGMULTIBODYDYNAMICSMETHODSANDTHEDYNAMICSOFTHECRANEWASANALYZEDCHENETAL,2002THEEFFECTSOFCABLEREELINGANDUNREELINGONCARGOPENDULATIONSWERESTUDIEDWITHTHEBOOMCRANEMODELEDASAPLANARPENDULUMANDTHESHIPASARIGIDBODYTHERESULTSSHOWNONLINEARBEHAVIORKRALETAL,1996INALMOSTALLOFTHESESTUDIES,THEFLEXIBILITYOFTHEBOOMISNOTTAKENINTOCONSIDERATIONTHISMAYBEREASONABLEFORSHORTCRANEBOOMSANDSMALLPAYLOADTOSHIPMASSRATIOS,BUTFORLONGCRANEBOOMSANDLARGEPAYLOADTOSHIPMASSRATIOS,THEINFLUENCEOFTHEFLEXIBILITYOFTHECRANEBOOMCANNOTBEIGNOREDANYMORETOTHEAUTHORS’BESTKNOWLEDGE,UNTILRECENTLYTHEREISNOREPORTONTHEMODELINGOFSUCHSYSTEMTHESTUDYAIMSTOPRESENTARIGIDFLEXIBLECOUPLINGDYNAMICMODELFORTHEPREDICTIONOFTHEDYNAMICSOFAMOOREDCRANESHIPANDITSPAYLOADTHEPREDICTIONISTHEFOUNDATIONOFTHEDYNAMICALDESIGNANDANACCURATERESIDUALWORKINGLIFEASSESSMENTITISALSOABASISFORTHECONTROLOFTHEVIBRATIONSOFTHESYSTEMMODELDESCRIPTIONTHESCHEMATICSYSTEMUNDERINVESTIGATIONISSHOWNINFIG1WHENDIMENSIONSANDELASTICPROPERTIESOFTHECRANESHIPBODYARECONSIDERED,ITISSUFFICIENTTOTAKEONLYTHEBOOMASFLEXIBLETHEFOLLOWINGASSUMPTIONSAREUSEDINTHEANALYSISOFTHECRANESHIP1THEMOTIONISONLYINTHEVERTICALPLANETHELOADISREGARDEDASAPOINTMASS,ANDCANHAVEPENDULUMMOTIONINTHEPLANE,BUTWITHOUTTWISTING2THEROPEISTAKENASARIGIDRODTHISASSUMPTIONISVALIDASLONGASTHEOSCILLATIONSOFTHELOADINTHEVERTICALDIRECTIONARESMALLANDTHEROPEREMAINSINTENSION3THESTRUCTURALDAMPINGOFTHESYSTEMISNOTTAKENINTOACCOUNT,BECAUSECRANESARETYPICALLYLIGHTLYDAMPEDTODDETAL1997REPORTEDTHATTHEDAMPINGOFASHIPMOUNTEDCRANEISFROM01TO05OFTHECRITICALDAMPINGASDEPICTEDINFIG1,ACOORDINATESYSTEMOXYISFIXEDTOTHEGROUNDANDDENOTEDAS“EARTHFIXED”,WHICHISTAKENTOBETHEINERTIALFRAMEOFREFERENCETHEOTHERSYSTEMO0X0Y0ISFIXEDTOAND,HENCE,MOVESWITHTHESHIP,WHICHISDENOTEDAS“BODYFIXED”JISTHEROTARYINERTIAOFTHESHIP,MSHIPANDMPARETHEMASSESOFTHESHIPANDLOAD,RESPECTIVELYTHEELASTICDISPLACEMENTSOFTHEBOOMTIPPOINTBAREDENOTEDASUANDWTHECRITICALPARAMETERSINCLUDINGTHEBOOMLENGTHLB,THELUFFANGLEOFTHEBOOMΒ,THELENGTHOFTHEROPEL,THEDISPLACEMENTINSURGEDIRECTIONX,THEPITCHANGLEΘ,THEHEAVEMOTIONYANDTHESWINGANGLEOFTHELOADΑAREALSOINDICATEDINFIG1MATHEMATICALMODELEXTERNALFORCESACTINGONTHECRANESHIPINTHEMODEL,DIFFERENTEXTERNALFORCESHAVETOBECONSIDEREDELLERMANNETAL,2002,THEHYDROSTATICFORCETBWWSHIPPM0,,,GAYMMGHΡΘ−−F1WITHTHEDENSITYOFWATERΡW,THECROSSSECTIONALAREAOFTHESHIPATTHESTILLWATERLEVELAWANDTHEMETACENTRICHEIGHTHMTHEMOORINGLINEFORCES,WHICHAREAPPROXIMATEDBYATHIRDORDERPOLYNOMIAL3TM123||,00,CXCXXCX−−−F2WHEREC1,C2,C3ARETHELINEAR,QUADRATIC,ANDCUBICCHARACTERISTICCOEFFICIENTSOFTHEMOORINGSYSTEMFORCESDUETOVISCOUSDRAGTDWD||/2,0,0CWTXXΡ−F3X0Y0ΑΘO0YOΒUWPBLLBXFIG1MOOREDCRANESHIPMODELRENETAL/JZHEJIANGUNIVSCIA200891263128AREPROPORTIONALTOTHEDENSITYOFWATERΡW,THEEMPIRICALDRAGCOEFFICIENTCD,THEWIDTHOFTHESHIPWANDTHEDRAUGHTTTHEFREQUENCYDEPENDENTWAVEEXCITATIONFORCES,WHICHCANBESPLITINTOAPERIODICALLYCHANGINGPARTANDTHECONSTANTDRIFTFORCES,CANBEMODELEDAS2RIDWRIRICOSSINCOSSIN,COSSINXXYYAKTKTAPAKTKTAKTKTΘΘΩΩΩΩ⎡⎤−⎢⎥−−⎣⎦F4WITHTHEWAVEAMPLITUDEA,THEREALANDIMAGINARYPARTSOFTHEFREQUENCYDEPENDENTCOEFFICIENTKRJANDKIJJX,Y,Θ,ANDTHECOEFFICIENTOFTHEDRIFTFORCEPDTHEFORCESAREABBREVIATEDBYT123BMDW,,FFFFFFFF5DYNAMICEQUATIONOFCRANESHIPTHEPOSITIONVECTOROFPAYLOADPASSHOWNINFIG1CANBEEXPRESSEDASPCOSSINSINCOS,JJXLULYLWLΒΘΑΒΘΑ⋅−⋅RIJ6WHEREIANDJAREUNITVECTORSALONGTHEXANDYAXES,RESPECTIVELYITCANBESEENTHAT,BYINCLUDINGTHEBOOMTIPDISPLACEMENTUANDW,THEEFFECTOFTHEELASTICDEFORMATIONOFTHEBOOMISINCLUDEDINTHEPOSITIONEQUATIONOFTHEPAYLOADITISASSUMEDTHATTHELUFFANGLEOFTHEBOOMANDTHELENGTHOFTHEPAYLOADPENDULUMARECONSTANTBASEDONEQ6,THEVELOCITYVECTOROFTHEPAYLOADPCANBEOBTAINEDBYTHETIMEDERIVATIVEOFRPASPBBSINCOSCOSSINXULLYWLLΘΒΘΑΑΘΒΘΑΑ−⋅⋅VIJ7SOTHEKINETICENERGYOFTHEPAYLOADCANTHENBEDERIVEDASPPPP222222P22B/2222COS2SIN2COS2SIN2SINBTMMXUYWLXUYWXLYLULWLLXLΑΑΑΑΑΑΑΑΑΘΘΒΘ⋅−VVBBB2SIN2SINCOS2COS2COS2COSSIN/28ULLLYLWLLLΘΒΘΘΑΒΘΑΘΒΘΘΒΘΘΑΒΘΑ−−THEPOTENTIALENERGYOFTHEPAYLOADPPBSINCOSUMGYLWLΒΘΑ−9THEKINETICENERGYANDTHEPOTENTIALENERGYOFTHESHIPCANBERESPECTIVELYEXPRESSEDAS222SHIPSHIP/,TJMXYΘ10SHIPSHIPUMGY11BASEDONTHEFINITEELEMENTDISCRETIZATION,THEKINETICANDPOTENTIALENERGYOFBOOMCANBERESPECTIVELYEXPRESSEDASTRRRRURWRTBUWRWUWW11,22TUMUWMMW⎧⎫⎧⎫⎡⎤⎪⎪⎪⎪⎢⎥⎨⎬⎨⎬⎪⎣⎦⎩⎭⎩⎭UMMMUUMUMM12TRRRRURWRTBUWRWUWW11,22UUKUWKKW⎡⎤⎧⎫⎧⎫⎪⎪⎪⎪⎢⎥⎨⎬⎨⎬⎪⎩⎭⎩⎭⎣⎦UKKKUUKUKK13WHEREMANDKAREGLOBALMASSANDSTIFFNESSMATRICESOFTHEBOOM,UANDUAREDISPLACEMENTANDVELOCITYVECTORSOFTHEFLEXIBLEBOOM;,UWAND,UWARETHENODALDISPLACEMENTANDVELOCITIESOFTHEBOOMTIPPOINTBURANDRUAREVECTORSOFDISPLACEMENTSANDVELOCITIESFORTHERESTDEGREESOFFREEDOMOFTHEBOOMSTRUCTURETHELAGRANGIANFUNCTIONOFTHESYSTEMCANBEEXPRESSEDASTRRRRURWR2URUUUWWRWUWW22222222SHIPP22BB11/2222COS2SIN2COS2SIN2LTUUMMUJWMWMXYMXUYWLXUYWXLYLULWLLXLΘΑΑΑΑΑΑΑΑΑΘΘ⎧⎫⎧⎫⎡⎤⎪⎪⎪⎪⎢⎥−⎨⎬⎨⎬⎪⎪⎪⎪⎣⎦⎩⎭⎩⎭−UMMMUMMBSIN2SINULΒΘΘΒ−RENETAL/JZHEJIANGUNIVSCIA200891263129BBTRRRRURWRURUUUWSHIPWRWUWWPB2SINCOS2COS2COS2COSSIN/212SINCOS14LLYLWLLLUKKUMGYWKWMGYLWLΘΘΑΒΘΑΘΒΘΘΒΘΘΑΒΘΑΒΘΑ−⎡⎤⎧⎫⎧⎫⎪⎪⎪⎪⎢⎥−−⎨⎬⎨⎬⎪⎪⎪⎪⎩⎭⎩⎭⎣⎦−−UKKKUKKTHELAGRANGE’SEQUATIONISD,DJJJLLQTQQ⎛⎞∂∂−⎜⎟∂∂⎝⎠15WHEREQJANDJQAREGENERALCOORDINATESANDGENERALVELOCITIESOFTHESYSTEMQJISGENERALFORCEOFTHESYSTEMSUBSTITUTINGEQS5AND14INTOEQ15GIVESRRPP2PB2B2P2BB00SINSINCOSCOSSINOSCOSSINMUUMWWMLLLXLMGYLLLLΑΑΘΒΘΘΒΘΑΑΑΑΑΑΘΒΘΘΒΘ⎛⎞⎡⎤⎡⎤⎡⎤⎜⎟⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦⎣⎦⎝⎠⎡⎤⎢⎥−−−−−−⎢⎢⎣⎦UUMK000000,16⎥⎥2SHIPPPPP2BB1COSSINSINCOS,17MMXMUMLMLLLFΑΑΑΑΘΒΘΘΒΘ−−−2SHIPPPPP2SHIPPBB2SINCOSCOSSIN,MMYMWMLMLMMGLLFΑΑΑΑΘΒΘΘΒΘ−18PBB22PB3SINSINSINCOSSINSINCOSCOSCOSSINCOSCOSCOS,JMLLXULLYWLLMGFΘΘΒΘΒΘΑΒΘΑΑΒΘΑΒΘΒΘΑΒΘΑΑΒΘΑΒΘ−−−19B2BB2BCOSSINCOSSINSINCOSCOSCOSCOSSINSINSINSIN020LXYUWLLLLGΑΑΑΑΑΘΒΑΑΘΒΑΑΘΒΑΑΘΒΑΑΑ−−−ASINSEVERALOTHERINVESTIGATIONS,THEATTENTIONISFOCUSEDONTHEHORIZONTALSURGEMOTIONINTHISSPECIALCASE,EQUATIONSOFMOTIONOFTHESYSTEMCANBEREDUCEDTORRPP2P2P00SINCOS,21SINCOSMUUMWWMLLXMGLLΑΑΑΑΑΑΑΑ⎛⎞⎡⎤⎡⎤⎡⎤⎜⎟⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦⎣⎦⎝⎠⎡⎤−−⎢⎥−−−⎣⎦UUMK0000002SHIPPPPP1COSSIN,MMXMUMLMLFΑΑΑΑ−22COSCOSSINSIN0LXUWGΑΑΑΑΑ23IFTHEBOOMSTRUCTUREISASSUMEDTOBERIGID,THEDEFORMATIONOFTHEBOOMVANISHESINEQS2123INTHISCASE,THEEQUATIONSOFMOTIONOFTHESYSTEMCANBEREDUCEDTO2SHIPPPP1COSSIN,MMXMLMLFΑΑΑΑ−24COSSIN0LXGΑΑΑ25SIMULATIONRESULTSANDDISCUSSIONTHEDYNAMICRESPONSEOFTHECRANESHIPISINVESTIGATEDINTIMEDOMAINBASEDONANEWMARKMETHODANDANITERATIVEAPPROACHJUETAL,2006THETYPEOFFINITEELEMENTUSEDINMODELINGTHECRANEBOOMISSPACEFRAMEELEMENTTHEBASICPARAMETERVALUESOFTHESHIPUSEDFORTHEANALYSISAREGIVENASFOLLOWSC121200N/M,C29440N/M2,C31382N/M3,KR5540N/M,KI426000N/M,CD02,PD15800NM2,MP200000KG,MSHIP192000

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