CN102682167A - Method for optimizing low-resistance and low-noise UUV (Unmanned Underwater Vehicle) linetype by adopting orthogonal simulated annealing - Google Patents

Abstract

The invention relates to a method for optimizing a low-resistance and low-noise UUV (Unmanned Underwater Vehicle) linetype by adopting orthogonal simulated annealing. The method is characterized in that specific to the low-resistance and low-noise UUV linetype, influence factors of four parts, including a head curve section, parallel middle sections, a tail curve section and a tailcone section, to a peripheral flow field of a UUV are researched, eight main parameters related to linetype design are organically combined with the analysis of the flow field, and the UUV is optimized in design by utilizing a multi-target collaborative design optimizing method of the orthogonal simulated annealing, so that the design performance of the UUV linetype is increased obviously.

Description

The method that adopts orthogonal simulation annealing that low-resistance low noise UUV line style is optimized

Technical field

The present invention relates to the line style design method study of a kind of submarine navigation device (UUV), relate in particular to the method that adopts orthogonal simulation annealing that low-resistance low noise UUV line style is optimized.

Background technology

The design of the line style of UUV is the important component part of its overall design, and line style has very big influence to the suffered resistance of UUV, flow noise, headway, hydrodynamic force layout etc.

Noise objective is an important performance characteristic of submarine navigation device, can influence its self-conductance property and disguised the generation greatly.Traditional U UV line style design mainly is to be the design optimization principle with the resistance minimum, and seldom considers the aspects such as flow noise of ROV, and its self noise is bigger when so just having caused the UUV navigation, and then influences the functions such as detection identification of ROV.

Drag reduction and noise reduction are two basic demands of submarine navigation device in the line style design, see from viewpoint of energy, and noise reduces, and the energy of consumption just reduces, thereby has also reduced resistance.The size of resistance depends on the state and the development in boundary layer; Resistance reduces, and the wake boundary interval must increase, thereby moves behind the turning point position; The pressure distribution peak value is too high, produces local cavitation, and resistance increases, and adverse pressure gradient is very big after the peak value, is easy to produce separation flow, impels boundary layer transition, and resistance is increased.

In fact, resistance and noise are two kinds of mechanics phenomenons, and resistance is minimum, and noise is not necessarily minimum, is optimized resistance and noise as two targets, has both increased the optimization difficulty, and also being difficult for obtaining resistance and noise while all is minimum Optimization result.Often all a kind of as optimization aim in the ROV line style design under water both at home and abroad from what publish with wherein, and mostly with drag reduction as optimization aim.

Summary of the invention

For fear of the weak point of prior art, the present invention proposes a kind of method that adopts orthogonal simulation annealing that low-resistance low noise UUV line style is optimized.

A kind of method that adopts orthogonal simulation annealing that low-resistance low noise UUV line style is optimized is characterized in that step is following:

Step 1: set up low-resistance low noise UUV line style multi-objective optimization design of power model:

$\min \{C_x,x_{\min 1}^{-1},|C_{p1}|,x_{\min 2}^{-1},|{\mathrm{<figure-callout\; id="2"\; label="C\; p"\; filenames="HDA00001627539700013.png"\; state="\{\{state\}\}">C</figure-callout>}}_p\left|\right\}=f\left(S\right)$

Wherein, S is a parameter vector, C _xBe ROV resistance coefficient, x _Min1Be the turning point position of head, C _P1Be the maximum decompression of head coefficient, x _Min2Be the turning point position of afterbody, C _P2Be the maximum decompression of afterbody coefficient; Said parameter vector S comprises head sections length S ₁, head sections richness S ₂, segment length S in the cylinder ₃, afterbody segment of curve length S ₄, tail cone segment length S ₅, afterbody segment of curve and tail cone section richness S ₆, breech face diameter S ₇With tail cone half-angle S ₈Said C _x, C _P1, C _P2, x _Min1, x _Min2Numerical value be according to the characteristics of this low-resistance low noise UUV, utilize the hydrodynamic force simulation software, set up UUV hydrodynamic force simulation analysis model in conjunction with fluid mechanics, dynamics, the mechanics of materials and structural mechanics scheduling theory, obtain the pairing C of parameter S _x, C _P1, C _P2, x _Min1, x _Min2Value;

Step 2: set initial temperature T, the attenuation coefficient dT of temperature, configuration design parameter original state S, and the iterations N that under each temperature, needs; Said initial temperature T=-Δ _Max/ lnp _r, wherein: Δ _MaxPoor for the maximum occurrences of f (S) in the multi-objective optimization design of power model in the step 1 and minimum value; p _rBe initial acceptance probability, value is 0.1;

Step 3: to k=1 ..., L does the 4th) and to the 7th) step;

Step 4: confirm a step-length q,, in its neighborhood [S-q, S+q], select a new explanation S ' at random according to orthogonality principle to the current S that separates of multi-objective optimization design of power model;

Step 5: the increment Delta f=of calculating target function (S ')-f (S), wherein f (S) is an objective function;

Step 6: judge whether with current the separating of new explanation replacement according to the Metropolis acceptance criterion;

Step 7: if satisfy end condition then export current separating, if do not satisfy then execution in step 8 of end condition as optimum solution;

Step 8: temperature is reduced to T=T-dT, begins repetition from step 3 then.

The method that the employing orthogonal simulation annealing that the present invention proposes is optimized low-resistance low noise UUV line style; To low-resistance low noise UUV line style; Studied nose curve section, parallel stage casing, afterbody segment of curve and four parts of tail cone section influence factor to the peripheral flow field of UUV; 8 major parameters that line style design is related to organically combine with flow field analysis, and the multiple goal collaborative design optimization method that utilizes orthogonal simulation to anneal has carried out optimal design to UUV, has significantly improved the line style design performance of UUV.

Description of drawings

Fig. 1: this UUV profile synoptic diagram;

Fig. 2: this UUV profile resistance estimate size synoptic diagram;

Fig. 3: this UUV configuration design result

Embodiment

Combine embodiment, accompanying drawing that the present invention is further described at present:

The low noise UUV line style of low-resistance orthogonal simulation annealing line style optimal design is a kind of new multiple goal cooperate optimization design, and the UUV line style of its design mainly contains nose curve section, parallel stage casing, afterbody segment of curve and four parts of tail cone section and forms.

The every partial design of UUV line style requires as follows:

1) because the many detection instruments of UUV is installed in head, so the nose curve section is maximum to the performance impact of UUV; Simultaneously; The variation of head line style is very big to the influence of the flow field of periphery, causes it to the having the greatest impact of resistance and flow noise, and bad head line style causes fluid separation easily; And then flow noise and resistance are obviously increased, produce flow separation phenomenon so will be strictly on guard against or postpone when it is designed.

2) parallel stage casing is a straight-line segment, and is gradually stable in this section through the incoming flow of nose curve section, and its resistance and flow noise influence to UUV is less.

3) the afterbody segment of curve is also very big to the peripheral flow field influence of ROV, and its main cause is that the stable incoming flow in parallel stage casing changes in this section once more, causes having the generation of pressure drag.The not slick and sly afterbody segment of curve of transition is prone to produce flow separation phenomenon, causes resistance to increase.

4) size of the angle of the line segment of tail cone section and UUV axis and tail cone section are very big to the pressure drag and the flow noise influence of ROV apart from the distance of UUV axis.Fluid forms the tail of being with the whirlpool in the end generation segregation phenomenon of tail cone section at the back at UUV, and its resistance and flow noise influence to UUV is very big.

The technical scheme that adopts of the present invention is following:

(1) sets UUV line style main design parameters

The line style main design parameters comprises: head sections length S ₁, head sections richness S ₂, segment length S in the cylinder ₃, afterbody segment of curve length S ₄, tail cone segment length S ₅, afterbody segment of curve and tail cone section richness S ₆, breech face diameter S ₇, tail cone half-angle S ₈Deng 8 parameters, and composition parameter vector S (S1, S2, S3, S4, S5, S6, S7, S8).Wherein, head richness and afterbody richness are adjusted through adjustment nose curve parameter, afterbody parameter of curve, tail cone half-angle and breech face diameter.

The line style Multipurpose Optimal Method of (2) annealing based on orthogonal simulation

The core concept of this method is: each partial objectives for is all carried out the simulated annealing process; It is optimizing process; When each partial objectives for balance of reaching mutual restriction is at a certain temperature separated; Multi-objective optimization question also reaches locally optimal solution. and when temperature was enough low, multi-objective optimization question reached globally optimal solution.

The advantage that has based on solid of revolution in the present embodiment, the profile of this UUV adopts solid of revolution.The profile line style mainly comprises round end nose curve section, the parallel stage casing of cylinder, afterbody segment of curve and four parts of afterbody awl line segment, and this UUV profile synoptic diagram is seen shown in Figure 1.Carry out modeling analysis to these several sections respectively below.

1) round end head configuration design

The two-parameter square root polynomial expression of the nose curve Granwell round end line style mathematic(al) representation that this UUV selects for use is:

$Y=\frac{D}{2}\left\{\sqrt{{2r}_0}\right[\sqrt{\frac{X}{L_h}}+\frac{X}{16L_h}(5{\left(\frac{X}{L_h}\right)}^3-21{\left(\frac{X}{L_h}\right)}^2+35\frac{X}{L_h}-35)]+k_{s1}\frac{X}{L_h}{(\frac{X}{L_h}-1)}^3+1-{(\frac{X}{L_h}-1)}^4\},X\&Element;[0,L_h]$

2) the parallel stage casing of cylinder

This section is a right cylinder, and line style is Y (X)=D/2, (X ∈ [L _h, L _h+ L _p]).

3) afterbody configuration design

The afterbody line style is selected the two-parameter fine stern line style in the Granwell afterbody line style series, and the line style expression formula is:

$Y=\frac{D_{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HDA00001627539700013.png"\; state="\{\{state\}\}">t</figure-callout>}}}{2}+\frac{D-D_t}{2}[s\frac{L_h+L_p+\mathrm{Lt}-X}{L_t}{(\frac{L_h+L_p+\mathrm{Lt}-X}{L_t}-1)}^4+\frac{1}{6}k{\left(\frac{L_h+L_p+\mathrm{Lt}-X}{L_t}\right)}^2{(\frac{L_h+L_p+\mathrm{Lt}-X}{L_t}-1)}^3$

$+1-{(\frac{L_h+L_p+\mathrm{Lt}-X}{L_t}-1)}^4{(4\frac{L_h+L_p+\mathrm{Lt}-X}{L_t}+1)}^4,$ X∈[L _h+L _p，L _h+L _p+L _t]

4) afterbody awl line segment

$y=\frac{D_{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HDA00001627539700013.png"\; state="\{\{state\}\}">t</figure-callout>}}}{2}+(L-L_e-X)\tan \mathrm{\&alpha;},$ x∈[L-L _e，L]

5) profile optimization designs a model

The present invention is directed to this UUV low-resistance, low noise requirement, and, obtain the profile optimization model of this UUV to the necessary simplification of objective function do:

$\min \{C_x,x_{\min 1}^{-1},|C_{p1}|,x_{\min 2}^{-1},|{\mathrm{<figure-callout\; id="2"\; label="C\; p"\; filenames="HDA00001627539700013.png"\; state="\{\{state\}\}">C</figure-callout>}}_p\left|\right\}=f\left(S\right)$

According to the step of orthogonal simulation annealing optimized Algorithm, programming is optimized.

The profile optimization result is following:

Selected length overall L=7000mm; Maximum dimension D=534.4mm; Speed of a ship or plane V=16kn; Density of sea water ρ=1024kg/m ³

The physical dimension Optimization result:

Lh=1300mm；Lp=4150mm；Lt=1390mm；Le=160mm；Lt+Le=1550mm；Dt=174.4346mm；De=82.185m。

Nose curve section line style expression formula (under Fig. 3 coordinate system):

$y=0.999328\sqrt{x}+{0.045535x}^4-0.244154x^3+{0.584166x}^2-1.117675x$ x∈[0，1]m

The parallel stage casing of cylinder expression formula:

y=0.2672m，x∈(1，5.64)m

Afterbody segment of curve line style expression formula:

y=-0.007631(6.94-x) ⁵-0.011626(6.94-x) ⁴-0.012709(6.94-x) ³+0.214381（6.84-x）+0.075x∈[5.64,6.783]m

Tail cone section line style expression formula:

y=0.0872-0.212556(X-6.783)X∈[6.783，7]m

Synoptic diagram is as shown in Figure 3 as a result for this UUV profile optimization.

This UUV housing profile geometric parameter is as shown in table 1.

Table 1UUV profile geometric parameter (16kn)

Claims (1)

1. one kind is adopted orthogonal simulation to anneal to the method for low-resistance low noise UUV line style optimization, it is characterized in that step is following:

Step 1: set up low-resistance low noise UUV line style multi-objective optimization design of power model:

$\min \{C_x,x_{\min 1}^{-1},|C_{p1}|,x_{\min 2}^{-1},|C_{p2}\left|\right\}=f\left(S\right)$

Wherein, S is a parameter vector, C _xBe ROV resistance coefficient, x _Min1Be the turning point position of head, C _P1Be the maximum decompression of head coefficient, x _Min2Be the turning point position of afterbody, C _P2Be the maximum decompression of afterbody coefficient; Said parameter vector S comprises head sections length S ₁, head sections richness S ₂, segment length S in the cylinder ₃, afterbody segment of curve length S ₄, tail cone segment length S ₅, afterbody segment of curve and tail cone section richness S ₆, breech face diameter S ₇With tail cone half-angle S ₈Said C _x, C _P1, C _P2, x _Min1, x _Min2Numerical value be according to the characteristics of this low-resistance low noise UUV, utilize the hydrodynamic force simulation software, set up UUV hydrodynamic force simulation analysis model in conjunction with fluid mechanics, dynamics, the mechanics of materials and structural mechanics scheduling theory, obtain the pairing C of parameter S _x, C _P1, C _P2, x _Min1, x _Min2Value;

Step 2: set initial temperature T, the attenuation coefficient dT of temperature, configuration design parameter original state S, and the iterations N that under each temperature, needs; Said initial temperature T=-Δ _Max/ lnp _r, wherein: Δ _MaxPoor for the maximum occurrences of f (S) in the multi-objective optimization design of power model in the step 1 and minimum value; p _rBe initial acceptance probability, value is 0.1;

Step 3: to k=1 ..., L does the 4th) and to the 7th) step;

Step 4: confirm a step-length q,, in its neighborhood [S-q, S+q], select a new explanation S ' at random according to orthogonality principle to the current S that separates of multi-objective optimization design of power model;

Step 5: the increment Delta f=f of calculating target function (S ')-f (S), wherein f (S) is an objective function;

Step 6: judge whether with current the separating of new explanation replacement according to the Metropolis acceptance criterion;

Step 7: if satisfy end condition then export current separating, if do not satisfy then execution in step 8 of end condition as optimum solution;

Step 8: temperature is reduced to T=T-dT, begins repetition from step 3 then.

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