CN110688733B - Numerical simulation method for water surface separation of carrier type submarine-launched missile - Google Patents

Numerical simulation method for water surface separation of carrier type submarine-launched missile Download PDF

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CN110688733B
CN110688733B CN201910807935.3A CN201910807935A CN110688733B CN 110688733 B CN110688733 B CN 110688733B CN 201910807935 A CN201910807935 A CN 201910807935A CN 110688733 B CN110688733 B CN 110688733B
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陆辰昱
乐贵高
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Nanjing University of Science and Technology
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Abstract

The invention discloses a numerical simulation method for water surface separation of a carrier type submarine-launched missile. The numerical calculation is based on a three-dimensional incompressible Navier-Stokes equation, an RNG k-epsilon turbulence model and a VOF two-phase flow model, meanwhile, a six-degree-of-freedom kinematic model of the carrier and the missile is established based on a base point method and a continuity equation, and the attitude angle of the carrier and the missile is monitored based on an Euler coordinate system. The invention is a numerical simulation method which is high in precision, low in calculation cost and in accordance with the actual engineering and is established after a large number of numerical simulation experiments are carried out and numerical results are compared with experimental results.

Description

Numerical simulation method for water surface separation of carrier type submarine-launched missile
Technical Field
The invention belongs to the technical field of submarine missiles, and particularly relates to a numerical simulation method for water surface separation of a carrier type submarine-launched missile.
Background
The modern submarine emission technology can be divided into wet emission and dry emission from the viewpoint of the existence of additional protection of the projectile body. The underwater wet type launching mode is as the name implies, and the launching body directly contacts with water in the process of sailing underwater until the water-out trajectory. The wet type launching projectile body passes through a water layer and a rough sea surface at a high speed, severe cavitation generally occurs at the shoulder and the tail, the falling and collapse of cavitation bubbles have great influence on the underwater trajectory of the projectile body, the dispersion of the attitude angle of the projectile body after water is discharged is increased, and the damage of the projectile body structure can be caused in an extreme case. The launching body of the underwater dry launching is wrapped by a special carrier to finish the underwater navigation section and the water outlet process; the launching body and the carrier are separated near the water surface, and the launching body is turned into an air flight trajectory to complete the whole underwater launching process. The underwater speed of the carrier is much lower than that of the wet type launching, obvious cavitation can not be generated, and the change of the water outlet posture of the launching body caused by the irregular leakage of the cavitation bubbles is avoided. Under the protection of the carrier, the emitter is not contacted with water in the whole emission process, and the emitter structure is not directly acted by the hydrodynamic load, so that the requirement on the emitter structure is greatly reduced. The emitter emitted by other platforms can be used for underwater emission only by making little adaptive improvement, and the emitter is not required to be specially designed for underwater emission.
Although the time course of the projectile separation stage is short, the projectile separation stage provides the initial conditions of the projectile flying in the air, directly influences the starting and controlling conditions and stability of the projectile trajectory, and is the key of the underwater launching success. The separation process is carried out on a water-gas intersection interface, the carrier moves relative to the water surface, and the emitter moves relative to the carrier. The process involves air, seawater and other media, is influenced by free liquid level and is strongly interfered by wind and wave in the ocean, and the stress of the system presents strong non-stationarity and nonlinearity. It is therefore necessary to study the kinematic attitude of the components during the separation process.
The method comprises the following steps of document Pengzheng, calculation of underwater launching of a carrier and water surface separation trajectory of the carrier [ D ], chinese ship research institute, 2011, calculation of hydrodynamic force based on a potential flow theory, solving of a linear multi-body dynamic equation and carrying out two-dimensional trajectory simulation on a high-speed navigation body and water surface separation process of the carrier. However, the carrier separation model is complex, and the separation process involves the fluid-solid coupling problem and is difficult to perform large-scale calculation, so that the calculation model is only limited to two dimensions, and the calculation accuracy of the movement of the projectile in the separation process needs to be improved.
Disclosure of Invention
The invention aims to provide a numerical simulation method for water surface separation of a carrier type submarine-launched missile so as to realize three-dimensional numerical calculation of water surface separation of the carrier type submarine-launched missile and improve the calculation precision of separation motion.
The technical solution for realizing the purpose of the invention is as follows:
a numerical simulation method for water surface separation of a carrier type submarine-launched missile comprises the following steps:
step 1, establishing a three-dimensional geometric model of water surface separation of a carrier type submarine-launched missile;
step 2, carrying out mesh division on the three-dimensional model by using a nested mesh method, and encrypting the motion concentrated area;
step 3, establishing a free liquid level flow model: establishing a flow model of a free liquid level in a separation process based on a three-dimensional incompressible Navier-Stokes equation, an RNGk-epsilon turbulence model and a VOF model;
step 4, establishing a six-degree-of-freedom kinematic model of the carrier and the missile based on a base point method and a continuity equation, and calculating respective motion states;
step 5, setting monitoring points on the axes of the carrier and the missile, and acquiring the attitude angle of the carrier and the missile based on an Euler coordinate system;
and 6, inputting the initial motion state of the carrier and the missile, the water surface wave height and the transverse flow velocity, finishing final calculation and outputting a pressure flow field cloud picture, and an attitude angle and axial velocity curve of the carrier and the missile.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The numerical method is suitable for the three-dimensional model and can accurately calculate the separation motion state related to the fluid-solid coupling problem.
(2) The invention adopts a nested grid method for grid division, and effectively solves the problems of large water surface separation model, large grid scale and difficult calculation of the carrier type submarine-launched missile.
(3) The RNGk-epsilon two-equation model adopted by the invention is used for calculating the complex flow problem of the water surface separation of the carrier type submarine-launched missile, can better adapt to the characteristic of large gradient change of flow parameters of the cross-medium two-phase flow, and keeps the Reynolds stress consistent with the real turbulence.
(4) According to the invention, the attitude angle of the carrier and the missile in the separation process can be calculated more conveniently and rapidly by adopting the monitoring points based on the Euler coordinate system.
Drawings
FIG. 1 is a structural flow chart of a numerical simulation method for water surface separation of a vehicle type submarine-launched missile.
Fig. 2 is a three-dimensional model diagram of the initial state of water surface separation of the vehicle type submarine-launched missile.
Fig. 3 is an enlarged view of the three-dimensional model of the vehicle of fig. 2.
FIG. 4 is an enlarged view of the three-dimensional model of the missile of FIG. 2.
FIG. 5 is a grid diagram of the vehicle, vehicle cover, missile.
FIG. 6 is a nested grid diagram of water surface separation for a vehicle-type submarine-launched missile.
Fig. 7 is a schematic diagram of an euler coordinate system and an attitude angle.
Fig. 8 (a-b) are a cloud view of the pressure field at the initial time and a cloud view of the pressure field at the separation completion time, respectively.
Fig. 9 (a-d) are plots of attitude angle versus axial velocity for a vehicle.
FIG. 10 (a-d) is a plot of attitude angle versus axial velocity for the missile.
FIG. 11 is a plot of the results of a vehicle water surface separation numerical simulation versus a pool test.
Detailed Description
Referring to fig. 1, the method for simulating water surface separation of a vehicle type submarine missile according to the invention comprises the following steps:
step 1, establishing a three-dimensional geometric model of water surface separation of a carrier type submarine-launched missile;
with reference to fig. 2, a model is established in reality 1: missile-1, carrier-2, carrier cover-3.
In connection with fig. 3, 4, the three-dimensional geometric model requires the following parameters: missile cone angle-4, missile body diameter-5, missile total length-6, carrier wall thickness-7, carrier diameter-8, carrier total length-9 and carrier bottom end wall thickness-10, and the carrier cover thickness is identical to carrier wall thickness
And 2, carrying out mesh division on the three-dimensional model by using a nested mesh method, and encrypting the region in the motion set.
2.1, combining with the figure 5, gridding the carrier, the carrier cover and the missile, and combining with the figure 6, dividing the total calculation domain into: a background area 1 (water) and a nesting area 2 (a carrier cover and missile separated movement area);
2.2, carrying out encryption processing on the mesh of the nested area, and ensuring that the mesh size of the background area and the mesh size of the nested area reach more than 3.
Step 3, establishing a free liquid level flow model: establishing a flow model of a free liquid level in a separation process based on a three-dimensional incompressible fluid Navier-Stokes equation, an RNGk-epsilon turbulence model and a VOF model;
3.1, establishing an N-S equation model of the three-dimensional incompressible fluid (water):
in vector form of
Figure BDA0002184199190000031
In a rectangular coordinate system, can be expressed as
Figure BDA0002184199190000041
Wherein rho is the density of water, v is the velocity vector of water, p is pressure, F is the vector of external force applied to water, mu is the dynamic viscosity coefficient of water, and t is separation time; x, Y and Z are components of a vector of an external force applied to the water in the X, Y and Z directions, and u, v and w are components of a velocity vector of the water in the X, Y and Z directions. The center of the bottom end of the carrier cover is taken as an origin, the direction of water flowing vertically upwards is taken as the z direction, the direction of water flowing transversely is taken as the x direction, and the direction perpendicular to the x and z directions is taken as the y direction.
3.2, establishing a turbulence model of free liquid level flow by adopting an RNGk-epsilon two-equation model:
compared with a standard k-epsilon two-equation model, the RNGk-epsilon two-equation model can better adapt to the characteristic of large gradient change of flow parameters of the cross-medium two-phase flow.
The equation of the turbulence kinetic energy k and the equation of the turbulence dissipation rate epsilon is
Figure BDA0002184199190000042
Figure BDA0002184199190000043
Wherein
μ eff ＝μ+μ t (5)
Figure BDA0002184199190000044
G k Turbulent kinetic energy, σ, generated for laminar velocity gradients k And σ ε Respectively turbulent kinetic energy k and turbulencePrandtl number, mu, of dynamic dissipation factor epsilon eff To equivalent viscosity, μ t Is turbulent viscous u i 、u j Being a component of velocity, x i 、x j Is a component of a coordinate, C 1ε ,C * 1ε ，C 2ε ,η,η 0 ,E ij Coefficient of constant equation, C 1ε ＝1.42、C 2ε ＝1.68，η 0 ＝4.377，β＝0.012。
3.3, establishing a VOF two-phase flow model, capturing the boundary of the free liquid level:
separating the two-phase flow into a liquid phase and a gas phase, defining a liquid volume fraction alpha on the grid cells s Is composed of
Figure BDA0002184199190000051
Wherein alpha is 1 Is the volume of liquid in the grid cell, alpha 2 Is the volume of the grid cell volume;
the control equation of the model consists of a continuity equation and a momentum equation:
Figure BDA0002184199190000052
Figure BDA0002184199190000053
wherein v is s Is the volume fraction of the gas phase in the two-phase flow, F s G is the gravitational acceleration, which is the source term for surface tension.
Step 4, establishing a six-degree-of-freedom kinematic model of the carrier and the missile:
suppose the carrier and missile are rigid bodies, P is any point on the rigid bodies, G is the mass center of the rigid bodies, and the speed V is the speed of the rigid bodies P The following equation can be obtained:
V P ＝V G +ω×r P/G (10)
wherein r is P/G Is a vector from an arbitrary point P to a centroid point GAmount (v). V G Representing the translational velocity of the centroid, and ω is the angular velocity of the motion about the base point.
The motion of the rigid body can be expressed by the following equation
Figure BDA0002184199190000054
Figure BDA0002184199190000055
Wherein F is total external force applied to the rigid body, m is rigid body mass, and T G Total moment acting on the point, [ J]Is the inertia tensor matrix of the rigid body.
Figure BDA0002184199190000056
Wherein J 11 ,J 22 And J 33 Is the moment of inertia, and the other elements are the products of inertia of the rigid body.
The control equation of the model is a continuity equation:
Figure BDA0002184199190000057
wherein V f Is the volume fraction of fluid within the grid cell, and a is the area fraction of fluid within the grid cell. S m Is a source term for the mass of the fluid.
Figure BDA0002184199190000061
Can be calculated from the following formula:
Figure BDA0002184199190000062
wherein V c Is the volume of a grid cell, S o Is the area of the rigid body in the grid cell, n is the unit normal vector of the rigid body surface, V o Is the velocity of the rigid body within the grid cell.
Step 5, establishing monitoring points, and acquiring attitude angles of the carrier and the missile based on an Euler coordinate system:
two monitoring points are arranged on the axes of the carrier and the missile, and the coordinates of the two monitoring points at the initial moment are respectively (x) 0 ,y 0 ,z 0 )，(X 0 ,Y 0 ,Z 0 ). The coordinates of two monitoring points at a certain moment are (x) 1 ,y 1 ,z 1 )，(X 1 ,Y 1 ,Z 1 ). Then set n 0 ＝(X 0 -x 0 ,Y 0 -y 0 ,Z 0 -z 0 )，n 1 ＝(X 1 -x 1 ,Y 1 -y 1 ,Z 1 -z 1 )。n 0 And n 1 Has a unit rotation axis e (m, n, p) and an angle theta
Figure BDA0002184199190000063
Figure BDA0002184199190000064
The quaternion q (a, b, c, d)
Figure BDA0002184199190000065
With reference to FIG. 7, the Euler angle (attitude angle) can be obtained finally
Figure BDA0002184199190000066
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002184199190000067
is the roll angle, alpha is the pitch angle and psi is the yaw angle.
And 6, inputting the initial motion state, the water surface wave height and the transverse flow velocity of the carrier and the missile, finishing final calculation, and outputting a pressure flow field cloud picture, and an attitude angle and an axial velocity curve of the carrier and the missile.
6.1, inputting the material density of the carrier and the missile;
6.2, inputting the initial speed of the carrier, the water outlet angle and the thrust of the missile;
6.3, inputting the wave height and the transverse flow velocity of the water surface;
examples
A numerical simulation method for water surface separation of a carrier type submarine-launched missile comprises the following steps according to the specific implementation mode:
step 1, establishing a three-dimensional geometric model of water surface separation of a carrier type submarine-launched missile;
with reference to fig. 2, the vehicle-type submarine-launched missile is divided into three components: missile-1, carrier-2 and carrier cover-3.
In connection with fig. 3, 4, the three-dimensional geometric model requires the following parameters: missile cone angle-4, missile body diameter-5, missile total length-6, carrier wall thickness-7, carrier diameter-8, carrier total length-9 and carrier bottom wall thickness-10, wherein the carrier cover thickness is consistent with the carrier wall thickness, and modeling is carried out 1.
Step 2, carrying out mesh division on the three-dimensional model by using a nested mesh method, and encrypting the motion concentrated area;
in connection with fig. 5, the carrier, carrier cover and missile are gridded, and in connection with fig. 6, the overall computational domain is divided into: background region 1 (water) and nested region 2 (separate motion region). And carrying out encryption processing on the grids in the nested area, ensuring that the grid size of the background area and the grid size of the nested area reach more than 1, and finally ensuring that the total number of the grids is about 580 ten thousand.
Step 3, establishing a free liquid level flow model: establishing a flow model of a free liquid level in a separation process based on a three-dimensional incompressible Navier-Stokes equation, an RNG k-epsilon turbulence model and a VOF model;
step 4, establishing a six-degree-of-freedom kinematic model of the carrier and the missile based on a base point method and a continuity equation, and calculating the motion state in the separation process;
step 5, setting monitoring points by combining the graph 7, and obtaining attitude angles of the carrier and the missile based on an Euler coordinate system;
and 6, inputting the initial motion state, the water surface wave height and the transverse flow velocity of the carrier and the missile, finishing final calculation, and outputting a pressure flow field cloud picture, and an attitude angle and an axial velocity curve of the carrier and the missile.
The following parameters were entered:
carrier material density: 500kg/m 3 Missile material density: 1000kg/m 3 Water outlet speed of the carrier: 10m/s
Sea state: wave height 2.5m transverse flow velocity: water outlet angle of 1m/s 90 ° (vertical outlet)
Thrust force: 0.5s starts to produce 0.6s to 100t
The numerical simulation method for water surface separation of the carrier type submarine-launched missile of the invention outputs a pressure flow field cloud picture, an attitude angle and an axial speed curve of the carrier and the missile by using three days under the condition of parallel calculation of 64 CPUs, as shown in the following figure. Fig. 8 (a) shows the initial state of calculation. Fig. 8 (b) shows that the separation of the vehicle from the missile is influenced by the waves, and the final separation finishing moment shows a more obvious inclination phenomenon. Fig. 9 (a) and (c) show that the roll angle and the yaw angle exhibit a significant trend of change due to the generation of the thrust at the time of 0.5 s. Fig. 9 (b) shows that the pitch angle is affected by the waves, increasing, and finally reaching 25 °. Fig. 9 (d) shows that the axial speed of the carrier is kept in a stable state in the initial period, the axial speed changes obviously along with the generation of the thrust, and finally the axial speed is reduced to 0 and falls into the water. Fig. 10 (a-d) shows that the attitude angle and the axial velocity of the missile change similarly to the vehicle, but the missile has a shaking problem in the vehicle in the initial separation stage, and the rolling angle of the missile has more obvious fluctuation as can be seen by combining fig. 10 (a). FIG. 11 is a comparison of the results of a numerical simulation of the separation of the water surface of a vehicle-type submarine-launched missile with the results of a scaled basin test. For the convenience of comparison with the test results, the pitch angle of the vehicle in the numerical simulation is taken as the residual angle. The comparison proves that the numerical calculation result has high goodness of fit with the similar scaling test result, and shows that the simulation method has higher precision. The method can improve the calculation precision and reduce the calculation cost, and the calculation result can provide a theoretical basis for the design of the water surface separation of the carrier type submarine-launched missile.

Claims (3)

1. A numerical simulation method for water surface separation of a carrier type submarine-launched missile is characterized by comprising the following steps:
step 1, establishing a three-dimensional geometric model of water surface separation of a carrier type submarine-launched missile;
step 2, carrying out mesh division on the three-dimensional model by using a nested mesh method, and encrypting the region in the motion set;
step 3, establishing a free liquid level flow model: establishing a flow model of a free liquid level in a separation process based on a three-dimensional incompressible Navier-Stokes equation, an RNGk-epsilon turbulence model and a VOF model;
the method comprises the following steps of establishing a free liquid level flow model:
3.1, establishing a three-dimensional incompressible fluid N-S equation model:
Figure FDA0003998988900000011
wherein rho is the density of the fluid, v is the velocity vector of the fluid, p is the pressure, F is the vector of the external force applied to the fluid, mu is the dynamic viscosity coefficient of the fluid, and t is the separation time;
3.2, establishing a turbulence model of free liquid level flow by adopting an RNGk-epsilon two-equation model:
the equation of the turbulence kinetic energy k and the equation of the turbulence dissipation rate epsilon are
Figure FDA0003998988900000012
Figure FDA0003998988900000013
Wherein G k Turbulent flow generated for laminar velocity gradientCan, σ k And σ ε Prandtl number, mu, of turbulence kinetic energy k and turbulence dissipation factor epsilon, respectively eff Is an effective viscosity, u i 、u j Is a velocity component, x i 、x j As a coordinate component, C 1ε ,C * 1ε And C 2ε Is the equation constant coefficient;
3.3, establishing a VOF two-phase flow model, capturing the boundary of the free liquid level:
separating the two-phase flow into a liquid phase and a gas phase, defining a liquid volume fraction alpha on the grid cells s Is composed of
Figure FDA0003998988900000014
Wherein alpha is 1 Is the volume of liquid in the grid cell, alpha 2 Is the volume of the grid cell volume;
the governing equation of the model consists of a continuity equation and a momentum equation:
Figure FDA0003998988900000015
Figure FDA0003998988900000016
wherein v is s Is the volume fraction of the gas phase in the two-phase flow, F s Is a source term due to surface tension, g is the acceleration of gravity;
step 4, establishing a six-degree-of-freedom kinematic model of the carrier and the missile based on a base point method and a continuity equation, and calculating respective motion states;
the method comprises the following steps of establishing a six-degree-of-freedom kinematic model of a carrier and a missile:
suppose the carrier and missile are rigid bodies, P is any point on the rigid bodies, G is the mass center of the rigid bodies, and the speed V is the speed of the rigid bodies P Obtained from the following formula
V P ＝V G +ω×r P/G (7)
Wherein r is P/G Is a vector from an arbitrary point P to the centroid G; v G Representing the translational velocity of the centroid, omega being the angular velocity of the motion around the base point;
the motion of the rigid body is represented by
Figure FDA0003998988900000021
Figure FDA0003998988900000022
Wherein F is total external force applied to the rigid body, m is rigid body mass, and T G Total moment acting on the center of mass, [ J]An inertia tensor that is a rigid body;
the governing equation of the model is a continuity equation
Figure FDA0003998988900000023
Wherein V f Is the volume fraction of the fluid in the grid cell, and A is the area fraction of the fluid in the grid cell; s. the m Is a mass source term for the fluid;
step 5, setting monitoring points on the axes of the carrier and the missile, and obtaining the attitude angle of the carrier and the missile based on an Euler coordinate system;
and 6, inputting the initial motion state, the water surface wave height and the transverse flow velocity of the carrier and the missile, finishing final calculation, and outputting a pressure flow field cloud picture, and an attitude angle and an axial velocity curve of the carrier and the missile.
2. The numerical simulation method for water surface separation of a vehicle-type submarine-launched missile according to claim 1, wherein the step 2 of gridding the three-dimensional model specifically comprises the following steps:
2.1, estimating the motion range of each component in the separation process, setting a water area as a background area, and setting a separation motion concentration area as a nested area;
and 2.2, encrypting the nested area grids.
3. The method for numerically simulating water surface separation for a vehicle-type submarine-launched missile according to claim 2, wherein step 5 is to establish monitoring points and obtain attitude angles of the vehicle and the missile based on an euler coordinate system:
Figure FDA0003998988900000031
wherein q = (a, b, c, d) is the quaternion of the monitor point vector,
Figure FDA0003998988900000032
is the roll angle, alpha is the pitch angle and psi is the yaw angle. />
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