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为充分发挥水下大尺度拖缆在应用过程中的声学性能,准确地对其深度进行调控,需预先知道其在水下拖曳状态下的空间形位。由此,对拖缆的力学模型进行分析,结合某水下大尺度拖缆的参数,基于有限元仿真软件AQWA对该拖缆进行4种典型航速的仿真分析,获得稳态和叠加四级海况动态环境下拖曳阵缆的空间形位分布、波高响应、下沉深度、拖曳张力和倾斜角等重要参数,为该拖缆的海上试验和应用提供参考。 相似文献
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《船舶标准化工程师》2021,54(5)
为分析水下拖缆在一定流速下的振动响应,使用ANSYS Workbench平台并基于双向流固耦合计算方法构建三维水下拖缆涡激振动的数值仿真框架,并对1 kn均匀流速下的拖缆涡激振动响应进行数值模拟分析。仿真得到了拖曳力、升力,振幅以及位移轨迹变化结果,为进一步研究拖缆振动响应对水下探测系统的影响提供了一定研究基础。 相似文献
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细小结构的涡激振动自从Von.Karman提出Karman涡激之后就引起了人们的重视。文中采用计算流体力学和有限元相结合的方法计算拖缆结构模型在水下工作时,由流体引起的对拖缆的涡激振动作用力,从而计算拖缆的涡激振动响应。 相似文献
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隔振模块是拖曳线列阵的重要组成部分,本文采用ANSYS有限元软件,建立了考虑护套内硅油和护套外水这两种流体的两层流固耦合模型,计算分析了隔振模块在水下的隔振性能,得到了一些重要的分析结果。这些计算数据和分析结果,为线列声纳阵水下拖缆隔振段的设计提供了技术依据。 相似文献
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水下拖缆研究是拖曳系统设计和使用的基础。由于受到水流力的作用,水下缆索呈现复杂的特性。本文首先推导了水下拖曳缆索的静力悬链线方程,将其结果作为非线性有限元方法的初始值;接着采用二节点等参索单元建立基于完全拉格朗日表述的增量平衡方程并使用牛顿-拉谱逊迭代法求解该方程;最后,采用Matlab编程,研究了该方法的收敛性及拖缆在重力、浮力和水流力作用下的形态与张力分布,得到了不同航速条件下缆索的形态及缆索张力的一些分布规律。 相似文献
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为解决缆索中间存在大部件的复杂水下拖曳系统建模问题,将其简化为质心和铰接点多点受力的刚性杆结构,基于虚功原理建立系统的稳态动力学方程.详细分析了系统的虚位移关系和杆段的流体阻力算法,推导出矩阵形式的数学模型表达式,形式简洁,意义明确,便于求解.求解该非线性方程组,得到系统的欧拉角稳态位形.仿真计算结果表明,该模型能较好吻合实际情况,准确反映系统结构变化对稳定姿态的影响,有效解决带中间部件系统的稳态计算问题. 相似文献
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介绍了水下拖缆隔振段隔振性能的测试装置和试验方法;分析了测试系统中隔振段两端串联弹簧对隔振性能的影响,隔振段的固有特性,不同拉力与激振量情况下的隔振效果以及轴向与横向的隔振性能。这些试验数据和分析结果,为线列声纳阵水下拖缆隔振段的设计提供了技术依据。 相似文献
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Nikolay Burlutskiy Yaniss Touahmi Beom Hee Lee 《Journal of Marine Science and Technology》2012,17(3):315-329
Autonomous underwater vehicles (AUVs) have rapidly developed in the last few decades due to their autonomous properties in the investigation of an underwater environment. The goal of this paper is to develop a power efficient formation control for the cooperative motion of AUVs with a support vessel as a leader. In this paper, a kinematic algorithm for the joint motion of an AUV with a support vessel was developed and that algorithm was expanded for the formation of AUVs. The AUV yaw, surge and sway control loops were designed for that purpose. The complexing navigation system structure for the AUV was also developed. Simulation results demonstrated efficiency of the proposed kinematic algorithm for the joint motion of AUVs. Also, influence of lateral ocean current was considered. After development of the centralized leader?Cfollower formation control for the group of AUVs with a support vessel as a leader, we optimized a formation configuration in terms of power efficiency. Drag forces caused by AUV motion in the water can significantly influence power consumption. We investigated the relationship between the AUV's formation configuration, underwater coverage efficiency, communication quality and power consumption. As a result of research, we proposed a power efficient formation configuration for typical underwater operations. As a result, the effect of the AUV formation configuration on the power consumption was investigated and a trade-off solution for the optimal AUV positions in formation with minimal energy consumption, high coverage efficiency and small communication power consumption was derived. 相似文献
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Toshihiro Maki Hayato Mizushima Tamaki Ura Takashi Sakamaki Masao Yanagisawa 《Journal of Marine Science and Technology》2012,17(3):330-339
Underwater jacket structures or support legs of on-water platforms, such as ports and oil rigs, need to be periodically inspected for maintenance, environmental monitoring, and security reasons. Autonomous underwater vehicles (AUVs) can potentially make these tasks more inexpensive and reliable compared to conventional methods that involve the use of divers and remotely operated vehicles. This paper proposes a robust and practical self-localization method for an underwater vehicle navigating around jacket structures, where the performance of conventional acoustic positioning suffers from multipath degradation. The key idea is to stochastically update the vehicle??s horizontal position and heading relative to the structures using two types of perceptional sensors, sonar and camera, assuming that the configuration of the structure is known. The performance of the method was verified with tank experiments using a jacket mock-up and the AUV Tri-Dog 1. 相似文献
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深海载人潜水器推力器布置与容错性能 总被引:1,自引:0,他引:1
深海载人潜水器能够搭载科学家至深海海底开展精细化取样作业,已成为人类开展深海科学研究和资源勘探开发必不可少的工具。推力器是潜水器机动的主要执行机构,其合理的布置不仅关系潜器操纵性能也直接影响其故障时容错性能。本文首先系统梳理了现役国内外6台深海载人潜水器推力器的布置形式及其参与推力分配的运动模态,基于推力器布置方案分别比较分析了推力器故障情况下的容错控制方案并和优缺点。结果发现用矢量和可回转推力器代替固定推力器可以提高系统的容错控制能力,本文研究对于后续载人潜水器推力器布置和容错控制设计可提供参考借鉴。 相似文献