CN110851917B - Method for forecasting longitudinal maneuverability of stable dragging of underwater vehicle - Google Patents
Method for forecasting longitudinal maneuverability of stable dragging of underwater vehicle Download PDFInfo
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Abstract
The invention relates to a method for forecasting the longitudinal maneuverability of a stable towing of an underwater vehicle, which aims at the problem of forecasting the longitudinal maneuverability of the underwater vehicle when a towing system consisting of the underwater vehicle, a towing cable and a towing body is stably navigated, supplements the maneuverability model of the existing underwater vehicle, adds a flexible towing cable model, namely the underwater vehicle and the towing body adopt rigid six-degree-of-freedom dynamic models, adopts a centralized quality model for a flexible towing cable, adopts the idea of reverse solution of the towing body, namely the stress at the towing body is solved firstly, and then carries out space integral solution along the flexible towing cable by using a Runge-Kutta method to obtain the stress at the underwater vehicle, and then can obtain the balanced attack angle and the balanced rudder angle of the towed underwater vehicle.
Description
Technical Field
The invention belongs to the technical field of underwater navigation, and relates to a longitudinal maneuverability calculation method for forecasting a stable navigation state of a flexible cable towed by an underwater navigation body, in particular to a calculation and forecast of a balance attack angle and a balance rudder angle for calculating the stable navigation state of the flexible cable towed by the underwater navigation body.
Background
The maneuverability of an underwater navigation body refers to the performance of changing or maintaining the motion attitude, the navigation depth and the heading direction by a steering mechanism. No matter whether the method is used for underwater weapons, in order to ensure that the underwater weapons can sail stably under water and can search targets, find the targets, guide the targets and finally finish the task of destroying the targets according to a preset program; or as an underwater vehicle, in order to ensure that the underwater vehicle can stably navigate underwater and complete underwater vehicle tasks according to a predetermined path, the underwater vehicle needs to have good maneuverability. Therefore, the maneuverability analysis research on the underwater navigation body is an indispensable key technology.
At present, scholars at home and abroad establish maneuverability models of underwater navigation bodies aiming at different hydrodynamic characteristics according to a rigid body dynamics principle, but can only forecast the maneuverability of a single navigation body (rigid body), and when a forecast object relates to a towing system consisting of the navigation body, a flexible towing cable and a towing body, the navigation performance of stably navigating by towing the flexible towing cable by the underwater navigation body is difficult to forecast due to the lack of the dynamics model of the flexible towing cable.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a longitudinal maneuverability calculation method suitable for forecasting the stable sailing state of a flexible cable dragged by an underwater navigation body.
Technical scheme
A method for forecasting longitudinal maneuverability of a stable towing of an underwater vehicle is characterized by comprising the following steps:
step 1: solving the stress T at the e point at the tail end of the towing cable e And the force direction angle phi e : according to the negative buoyancy delta G of the towed body e And is subject to fluid power F e Solving T according to the balance force relation e ' and phi e ，T e And T e ' is a pair of force and reaction, i.e. T e And T e ' absolute values are equal;
step 2: solving stress magnitude T at o point of head end of towing cable o And the direction angle phi of the force o : force T applied by e point at tail end of towing cable e And the direction angle phi of the force e As an initial value point, a four-stage fourth-order Runge-Kutta method is applied to a differential dynamics model formula (1) of the towing cable along a curve
The space integral is solved to obtain the stress T of the starting point o of the towing cable o And the direction angle phi of the force o ；
Wherein u is t 、u n Corresponding to the flow velocity component of the sailing speed of the towed body system relative to the water flow in a cable micro-segment satellite coordinate system Atn;
t is towing cable tension;
ρ is the fluid density;
w is the streamer negative buoyancy per unit length;
d is the streamer diameter;
C t is the streamer tangential drag coefficient;
C n is the streamer normal drag coefficient;
epsilon is a local elongation coefficient of the towing cable and can be obtained according to Hooke's law;
and 3, step 3: solving the balance attack angle alpha of the underwater navigation body 0 And a balanced rudder angle delta e0 : will be stressed by a magnitude T 0 And the direction angle phi of the force 0 Decomposition of satellite xBy coordinate system along navigation body into T 0x 、T 0y Combining with the dynamic equation of the underwater vehicle to obtain a formula (2), and solving to obtain a balance attack angle and a balance rudder angle of the underwater towed vehicle for stable navigation according to the formula (2);
wherein, the first and the second end of the pipe are connected with each other,
the position derivative of the lift coefficient of the underwater vehicle to the attack angle is obtained;
s is the maximum cross-sectional area of the underwater vehicle;
l is the characteristic length of the underwater vehicle;
delta G is the negative buoyancy of the underwater vehicle;
g is the gravity of the underwater vehicle;
v is the speed of the underwater vehicle.
Advantageous effects
Aiming at the problem of forecasting the longitudinal maneuverability of an underwater vehicle when a towing system consisting of the underwater vehicle, a towing cable and a towing body navigates stably, the conventional underwater vehicle maneuverability model is supplemented, a flexible towing cable model is added, namely the underwater vehicle and the towing body adopt rigid six-degree-of-freedom dynamic models, the flexible towing cable adopts a centralized quality model, and the thought of self-towing body reverse solution is adopted, namely the stress at the towing body is solved firstly, then a Runge-Kutta method is used for carrying out space integral solution along the flexible towing cable to obtain the stress at the underwater vehicle, so that the balanced attack angle and the balanced rudder angle of the towed underwater vehicle can be obtained, and a design input is provided for an underwater vehicle control system.
Drawings
FIG. 1 schematic of an underwater vehicle towing system
Wherein 1 is a navigation body; 2 is a towing cable; 3 is a mop body; xBy is a satellite coordinate system of the navigation body, and B is a floating center of the navigation body; tAN is a towrope microsection coordinate system, at is the tangential direction along the towrope microsection, and An is the towrope microsection normal direction; point e is the connection point of the towing cable and the towed body; the point o is a connection point of the towing cable and the navigation body; x is a radical of a fluorine atom 0 、y 0 The coordinates of the o point along the Bx and By axes in the xBy coordinate system, respectively.
Detailed Description
The invention will now be further described with reference to the following examples, and the accompanying drawings:
the method comprises the following steps: with the attached figure 1, the stress magnitude T at the e point at the tail end of the towing cable is solved e And the direction angle phi of the force e . According to the negative buoyancy delta G of the towed body e And is subject to fluid power F e Solving for T according to the equilibrium force relationship e ' and phi e ，T e And T e ' is a pair of acting and reacting force, i.e. T e And T e ' absolute values are equal.
Step two: solving stress magnitude T at head end o point of towing cable o And the force direction angle phi o . Force T applied by e point at tail end of towing cable e And the direction angle phi of the force e As an initial value point, a four-stage fourth-order Runge-Kutta method is applied to a differential dynamics model formula (1) of the towing cable along a curve
The space integral is solved to obtain the stress T of the starting point o of the towing cable o And the force direction angle phi o ；
Wherein u is t 、u n Corresponding flow velocity components to the navigation speed of the towed body system relative to water flow in a cable micro-segment satellite coordinate system Atn;
t is towing cable tension;
ρ is the fluid density;
w is the streamer negative buoyancy per unit length;
d is the streamer diameter;
C t is the streamer tangential drag coefficient;
C n is the streamer normal drag coefficient;
epsilon is the local elongation coefficient of the streamer and can be calculated according to Hooke's law.
Step three: solving the balance attack angle alpha of the underwater navigation body 0 And a balanced rudder angle delta e0 . Will be stressed by a certain amount T 0 And the force direction angle phi 0 Decomposed into T along xBy coordinate system 0x 、T 0y And obtaining a formula (2) by combining the dynamic equation of the underwater vehicle, and obtaining a balance attack angle and a balance rudder angle of the underwater towed vehicle for stable sailing according to the formula (2).
Wherein the content of the first and second substances,
the position derivative of the lift coefficient of the underwater vehicle to the attack angle is obtained;
s is the maximum cross-sectional area of the underwater vehicle;
l is the characteristic length of the underwater vehicle;
delta G is the negative buoyancy of the underwater vehicle;
g is the gravity of the underwater vehicle;
v is the speed of the underwater vehicle.
Claims (1)
1. A method for forecasting longitudinal maneuverability of a stable towing of an underwater vehicle is characterized by comprising the following steps:
step 1: solving the stress T at the e point at the tail end of the towing cable e And the direction angle phi of the force e : according to the negative buoyancy delta G of the towed body e And is subject to fluid power F e Solving for T according to the equilibrium force relationship e ' and phi e ，T e And T e ' is a pair of force and reaction, i.e. T e And T e ' absolute values are equal;
and 2, step: solving stress magnitude T at o point of head end of towing cable o And the direction angle phi of the force o : with force T applied at e-point at the end of the towing cable e And the force direction angle phi e As an initial value point, a four-stage fourth-order Runge-Kutta method is applied to a differential dynamics model formula (1) of the towing cable along a curve
The space integral is solved to obtain the stress value T of the starting point o of the towing cable o And the force direction angle phi o ；
Wherein u is t 、u n Corresponding to the flow velocity component of the sailing speed of the towed body system relative to the water flow in a cable micro-segment satellite coordinate system Atn;
t is towing cable tension;
ρ is the fluid density;
w is the streamer negative buoyancy per unit length;
d is the streamer diameter;
C t is the streamer tangential drag coefficient;
C n is the streamer normal drag coefficient;
epsilon is a local elongation coefficient of the towing cable and can be obtained according to Hooke's law;
and 3, step 3: solving the balance attack angle alpha of the underwater navigation body 0 And a balanced rudder angle delta e0 : will be stressed by a certain amount T 0 And the direction angle phi of the force 0 Decomposition of satellite xBy coordinate system along navigation body into T 0x 、T 0y Combining with the dynamic equation of the underwater vehicle to obtain a formula (2), and solving to obtain a balance attack angle and a balance rudder angle of the underwater towed vehicle for stable navigation according to the formula (2);
wherein, the first and the second end of the pipe are connected with each other,
is the position derivative of the lift coefficient of the underwater vehicle to the attack angle;
s is the maximum cross-sectional area of the underwater vehicle;
l is the characteristic length of the underwater vehicle;
delta G is the negative buoyancy of the underwater vehicle;
g is the gravity of the underwater vehicle;
v is the speed of the underwater vehicle.
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