CN101458729A - Underwater submersible space motion emulation method based on hydrodynamic coefficient susceptibility - Google Patents
Underwater submersible space motion emulation method based on hydrodynamic coefficient susceptibility Download PDFInfo
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- CN101458729A CN101458729A CNA2008101374745A CN200810137474A CN101458729A CN 101458729 A CN101458729 A CN 101458729A CN A2008101374745 A CNA2008101374745 A CN A2008101374745A CN 200810137474 A CN200810137474 A CN 200810137474A CN 101458729 A CN101458729 A CN 101458729A
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Abstract
The invention provides a submersible vehicle spatial motion simulation method based on hydrodynamic coefficient sensitivity, which adopts SJ (RJ-RJ*)/RJ* as the hydrodynamic coefficient sensitivity index; sets one hydrodynamic coefficient as zero, and holds other hydrodynamic coefficients, to obtain a variable submarine spatial motion model, processes same driving test on the variable model and an original motion model, to obtain two groups of maneuverability parameters, calculates one group of sensitivity indexes of the hydrodynamic coefficient, and processes same operation on each hydrodynamic coefficient; selects an acceptable error reference value A as a simplified standard to simplify a submersible vehicle spatial motion equation, and uses the submersible vehicle spatial motion equation to simulate submersible vehicle spatial motion. The inventive simplified simulation method is based on general simulation test, and is simplified according to sensitivity indexes, while the simplification is suitable for object simulation tests.
Description
(1) technical field
What the present invention relates to is a kind of emulation mode, particularly a kind of simplification emulation mode of submarine spatial movement.
(2) background technology
The submarine movement realistic model is based on kinetic theory, the multivariate differential equation that the maneuverability theory of Hydrodynamics Theory and submarine etc. is set up, in order to try to achieve hydrodynamic approximate representation formula, suffered power is launched into kinematic parameter, the Taylor series of the rotating speed of the rotation of rudder and come about speed and screw propeller, rule of thumb, for the motor-driven situation that generally may run into, keep enough engineering demands of Taylor expansion to three rank item, and different according to people's custom and used ship model experiment device, and the convenience on calculating, usually only adopt the second order term coefficient.At present by people generally accepted be the submarine canonical equation of motion of " canonical equation of motion that is used for the submarine modeling effort " of Gertler of delivering of U.S.'s David Taylor Naval Ship Research and Development Center (DTNSRDC) in 1967 etc. and the correction delivered in 1979, and the exact value that will obtain the whole hydrodynamic force coefficient in the equation is difficult, especially the value of some coupling hydrodynamic analysis coefficients is very little, is difficult to use measuring.This makes that the realization of submarine movement emulation is very difficult, so must simplify on the basis of submarine canonical equation of motion, has set up multiple submarine spatial movement simplified model for the emulation use afterwards.The foundation of these simplification is: 1 carries out de with the motion of surface level and vertical plane; 2 approximate think submarine top to bottom, left and right, front and rear symmetry, so also can simplify and remove some hydrodynamic force coefficients; 3 directly remove those hydrodynamic force coefficient values smaller.Simplify later model like this and dwindled the scope of application, only be applicable to the maneuverability test that some are specific.
(3) summary of the invention
The object of the present invention is to provide a kind of underwater submersible space motion emulation method that can tackle the l-G simulation test that carries out fully based on hydrodynamic coefficient susceptibility.
The object of the present invention is achieved like this:
With S
j=(R
j-R
j *)/R
j *As the hydrodynamic coefficient susceptibility index, wherein, R represents the submarine's maneuverability parameter, as permanent tactical diameter of level etc., subscript * represents that the hydrodynamic force coefficient of benchmark and corresponding maneuverability are parameter, and no subscript is represented the hydrodynamic force coefficient that changes and the maneuverability parameter of corresponding calculating;
Putting some hydrodynamic force coefficients is zero, keeps other hydrodynamic force coefficients constant, and the submarine spatial movement model that obtains changing is done identical maneuverability test with the model that changes with original motion model, obtains two groups of maneuverability parameters respectively, uses formula S
j=(R
j-R
j *)/R
j *Calculate one group of susceptibility index of this hydrodynamic force coefficient, each hydrodynamic force coefficient is all carried out identical operations;
Select an acceptable Fiducial Value of Error for Power A underwater submersible space motion equation to be simplified at last as the simplification standard, every susceptibility index is greater than all reservations of A, less than then from equation, removing of A, the following submersible space motion equation model that obtains simplifying carries out emulation with the following submersible space motion equation model of this simplification to submersible space motion down.
At different maneuverability tests, we find that for specific submarine's maneuverability test, the effect of each hydrodynamic force coefficient in model is different, keeps whole hydrodynamic force coefficients, so just can tackle all maneuverability l-G simulation tests.Yet for emulation, only some maneuverability test often carries out, that is to say so, whole hydrodynamic force coefficients in the retention equation are unnecessary, can remove some hydrodynamic force coefficients fully equation is simplified, and are that emulation experiment can realize.The present invention is the comparison foundation with each steering quality index, calculates the hydrodynamic coefficient susceptibility index, with this standard that whether can simplify as some hydrodynamic force coefficient.Benefit based on susceptibility index simplification submarine space motion emulation method of the present invention is obvious.This simplification emulation mode is based on the l-G simulation test basis commonly used, and with the susceptibility index as according to simplifying, this that is to say that for the l-G simulation test that will carry out, this simplification can be tackled fully.
(4) description of drawings
Fig. 1 is a FB(flow block) of the present invention.
Fig. 2-a and Fig. 2-b remove the surface level circle test behind certain hydrodynamic force coefficient and the difference of master pattern.
Fig. 3-a and Fig. 3-b remove the trapezoidal rudder experiment of vertical plane behind certain hydrodynamic force coefficient and the difference of master pattern.
Fig. 4-a and Fig. 4-b remove the Z-shaped rudder experiment of surface level behind certain hydrodynamic force coefficient and the difference of master pattern.
Fig. 5 is the submarine movement model surface level circle test after simplifying and the difference of master pattern.
The trapezoidal rudder experiment of submarine movement model vertical plane after Fig. 6 simplifies and the difference of master pattern.
The Z-shaped rudder experiment of submarine movement model surface level after Fig. 7 simplifies and the difference of master pattern.
Red solid line obtains by master pattern clearing among the figure, dotted line be by after changing or simplify after model obtain.
(5) embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Underwater submersible space motion emulation method in hydrodynamic coefficient susceptibility comprises the steps:
1, determine several maneuverability tests and maneuverability parameter thereof, provide the rule of each car, rudder, water, gas, the canonical equation of motion by the submarine modeling effort resolves benchmark maneuverability parameter.
2, with one of them hydrodynamic force coefficient zero setting, and keep other hydrodynamic force coefficients to remain unchanged, repeat to do the various tests in the step 1, obtain one group of new maneuverability parameter, calculate the susceptibility exponential quantity of this hydrodynamic force coefficient.
3, repeating step 2, all calculated the susceptibility index up to all hydrodynamic force coefficients.
4, specify the cost standard of index, finish the simplification of equation.
5, carry out emulation with the equation after simplifying.
Enumerate an embodiment below:
1, determines maneuverability l-G simulation test and the maneuverability parameter thereof that to use in the emulation.
This method has been selected three kinds of maneuverability tests commonly used for use: the permanent circle test of surface level, the trapezoidal rudder experiment of vertical plane and the Z-shaped rudder experiment of surface level, and the maneuverability parameter is selected as follows:
(1) the permanent circle test of surface level
Fixed length tactical diameter D
s, tactical diameter D
T, advance A
d, positive transfer T
rWith T gyration period.
(2) the trapezoidal rudder experiment of vertical plane
Execution time, surmount trim angle θ
OvWith degree ζ
Ov
(3) the Z-shaped rudder experiment of surface level
Initial turning time t
a, surmount time t
Ov, surmount angle of heading ψ
OvAnd period T.
2, three tests in undertaken step 1 by the canonical equation of motion of submarine modeling effort obtain three groups of maneuverability parameter benchmark values respectively.With this three class values reservation record as after the reference value of hydrodynamic coefficient susceptibility Index for Calculation.
3, with some hydrodynamic force coefficient zero setting, keep other hydrodynamic force coefficients constant, submarine movement model after obtaining changing, again three tests in carry out step 1 by the submarine movement model after changing, input characteristics and the test in the step 2 of noting these three tests must be identical, the three groups of maneuverability parameter values of so just getting back, a series of susceptibility indexes of current hydrodynamic force coefficient are calculated and write down to substitution susceptibility index definition formula respectively.
4, repeating step 3 is up to all tested susceptibility exponential quantity that obtains of all hydrodynamic force coefficients.
5, choose certain cost index reference value (as 3%), be used as the standard of simplified model as the separatrix with this, promptly for all hydrodynamic force coefficients, the condition that they can be simplified is that all susceptibility exponential quantities all are less than cost index reference value, finishes simplified models.
6, whether the check simplified model meets the requirements, if simplified model meets the requirements, leaves it at that so, otherwise, can suitably revise cost index reference value, simplify again, in addition, also can make simplified model meet the emulation experiment requirement by the hydrodynamic force coefficient ground method of revising after simplifying.
Provide the error form after the simplification below:
Claims (1)
1, a kind of underwater submersible space motion emulation method based on hydrodynamic coefficient susceptibility is characterized in that:
With S
j=(R
j-R
j *)/R
j *As the hydrodynamic coefficient susceptibility index, wherein, R represents the submarine's maneuverability parameter, as permanent tactical diameter of level etc., subscript * represents that the hydrodynamic force coefficient of benchmark and corresponding maneuverability are parameter, and no subscript is represented the hydrodynamic force coefficient that changes and the maneuverability parameter of corresponding calculating;
Putting some hydrodynamic force coefficients is zero, keeps other hydrodynamic force coefficients constant, and the submarine spatial movement model that obtains changing is done identical maneuverability test with the model that changes with original motion model, obtains two groups of maneuverability parameters respectively, uses formula S
j=(R
j-R
j *)/R
j *Calculate one group of susceptibility index of this hydrodynamic force coefficient, each hydrodynamic force coefficient is all carried out identical operations;
Select an acceptable Fiducial Value of Error for Power A underwater submersible space motion equation to be simplified at last as the simplification standard, every susceptibility index is greater than all reservations of A, less than then from equation, removing of A, the underwater submersible space motion equation model that obtains simplifying carries out emulation with the following submersible space motion equation model of this simplification to submersible space motion down.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336887A (en) * | 2013-06-05 | 2013-10-02 | 哈尔滨工程大学 | Method for identifying water power coefficient based on bee colony algorithm |
| CN109766569A (en) * | 2018-11-23 | 2019-05-17 | 中国船舶重工集团公司第七一九研究所 | Submarine movement Model Simplification Method and device |
| CN110827616A (en) * | 2019-11-21 | 2020-02-21 | 中国人民解放军海军工程大学 | Submarine steering and balance control simulation test platform and method |
| CN111177903A (en) * | 2019-12-18 | 2020-05-19 | 智慧航海（青岛）科技有限公司 | Propeller thrust performance test method based on simulation technology |
-
2008
- 2008-11-06 CN CNA2008101374745A patent/CN101458729A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336887A (en) * | 2013-06-05 | 2013-10-02 | 哈尔滨工程大学 | Method for identifying water power coefficient based on bee colony algorithm |
| CN109766569A (en) * | 2018-11-23 | 2019-05-17 | 中国船舶重工集团公司第七一九研究所 | Submarine movement Model Simplification Method and device |
| CN110827616A (en) * | 2019-11-21 | 2020-02-21 | 中国人民解放军海军工程大学 | Submarine steering and balance control simulation test platform and method |
| CN111177903A (en) * | 2019-12-18 | 2020-05-19 | 智慧航海（青岛）科技有限公司 | Propeller thrust performance test method based on simulation technology |
| CN111177903B (en) * | 2019-12-18 | 2023-06-30 | 智慧航海（青岛）科技有限公司 | Propeller thrust performance test method based on simulation technology |
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