CN112001133B - Fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis - Google Patents
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Abstract
The invention discloses a fluid-solid sound coupling calculation method based on ship three-dimensional sound elastic time domain analysis, which relates to the technical field of ship underwater fluid-solid sound coupling calculation, and comprises the following steps: calculating a ship structure dry mode; calculating a modal radiation acoustic damping matrix in a frequency domain through a ship structure dry mode with orthogonality completeness; acquiring dynamic force of a flow field acting on a ship through a computational fluid dynamics method; multiplying and converting the dynamic force and the displacement vector of each order of mode shape to obtain a mode generalized excitation force; substituting the dry modal generalized mass matrix, the generalized damping matrix, the generalized stiffness matrix and the modal generalized excitation force into a ship structure generalized kinetic equation to obtain modal principal coordinate response of a designated order; and calculating the vibration response vector of the ship structure and the underwater radiation sound power based on the ship three-dimensional sound elasticity theory. The whole calculation is decoupled into two parts of flow excitation structure vibration calculation and underwater radiation sound power calculation caused by vibration, so that the whole calculation complexity is greatly improved.
Description
Technical Field
The invention relates to the technical field of ship underwater fluid-solid coupling vibration and acoustic radiation calculation, in particular to a fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis.
Background
When the ship sails in water, the pulsating force generated by the flow field excites the hull shell structure or the cavity structure of the ship, which causes the ship structure to vibrate and radiate sound waves into the water, thereby bringing adverse effects to the concealment of the ship in the water. The problem is a dynamics problem of interaction between fluid and a structure, which is concerned in ship engineering, and has important engineering application background and high academic research value.
The research of the problems is not separated from numerical calculation, and in the strict sense, the research of the problems needs to develop the fine calculation of the fluid-solid acoustic coupling. One of the main problems of the current fluid-solid acoustic coupling fine calculation is huge calculation amount. Meanwhile, in order to acquire radiation sound pressure in water far away from the ship, a discrete flow field area is required to be very large, and the calculated amount can be often exceeded. In addition, the boundary cut-off effect of the flow field can bring deviation to the calculated magnitude of the radiation sound pressure in water. How to realize the high-efficiency and high-precision calculation of the fluid-solid acoustic coupling of the navigation ship becomes a research direction in the current fluid-solid coupling field.
Disclosure of Invention
Aiming at the problems and the technical requirements, the inventor provides a fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis, and the whole calculation is decoupled into two parts of flow excitation structure vibration calculation and underwater radiation acoustic power calculation caused by structure vibration, so that the whole calculation complexity is greatly improved.
The technical scheme of the invention is as follows:
the fluid-solid acoustic coupling calculation method based on the ship three-dimensional acoustic elastic time domain analysis comprises the following steps:
calculating a ship structure dry mode by adopting finite element software to obtain a corresponding dry mode generalized mass matrix, a generalized damping matrix, a generalized stiffness matrix and a mode shape displacement matrix of each order;
based on a ship three-dimensional acoustic elastic theory, taking a ship structure dry mode with orthographic completeness as a generalized basis function, and calculating in a frequency domain to obtain a mode radiation acoustic damping matrix corresponding to the generalized basis function;
acquiring dynamic force of a flow field acting on a ship through a computational fluid dynamics method;
multiplying dynamic force by each order of modal shape displacement column vector based on a modal superposition method theory of ship structure vibration calculation, and converting to obtain a corresponding modal generalized excitation force column vector, wherein each order of modal shape displacement column vector is obtained by converting each order of modal shape displacement matrix;
establishing a ship structure generalized dynamics equation according to a ship structure dry mode, substituting a dry mode generalized mass matrix, a generalized damping matrix, a generalized stiffness matrix and a modal generalized excitation force column vector into the ship structure generalized dynamics equation to obtain a modal primary coordinate response of a designated order;
obtaining a vibration response vector of the ship structure according to the modal shape displacement matrix of the appointed order and the modal main coordinate response of the appointed order corresponding to the modal shape displacement matrix of the appointed order;
based on the ship three-dimensional acoustic elasticity theory, the underwater radiation acoustic power is obtained according to the modal principal coordinate response of the designated order and the modal radiation acoustic damping matrix corresponding to the modal principal coordinate response.
The fluid-solid acoustic coupling calculation method further comprises the following steps:
substituting the vibration response vector as a fluid-solid contact wet surface boundary condition into the fluid-solid contact wet surface boundary condition and re-executing the step of acquiring dynamic force of the flow field acting on the ship through a computational fluid dynamics method until the fluid-solid acoustic coupling calculation set time length is reached.
The method for obtaining the underwater radiation acoustic power based on the ship three-dimensional acoustic elasticity theory according to the modal principal coordinate response of the appointed order and the modal radiation acoustic damping matrix corresponding to the modal principal coordinate response comprises the following steps:
under the condition of long-time stable response, carrying out Fourier transformation on modal principal coordinate response of a designated order to obtain:
wherein ,
is the spectrum of the modal principal coordinate response of the designated order, q r (T) is the (th) element in the dry-mode generalized principal coordinate displacement response column vector q (T) [ T ] 1 ,T 2 ]Representing a time period interval during which the signal is intercepted;
based on a ship three-dimensional acoustic elastic time domain analysis theory, according to the frequency spectrum of the modal principal coordinate response of the appointed order and the appointed element in the modal radiation acoustic damping matrix corresponding to the frequency spectrum, the calculation formula for obtaining the underwater radiation acoustic power is as follows:
wherein Re represents the real part of a complex number, the superscript represents the conjugate of the complex number, B rj (ω) is an element in the modal radiation acoustic damping matrix,
the j-order modal principal coordinate response of the j-th element in the column vector q (t) of the dry modal generalized principal coordinate displacement response in the frequency domain through Fourier transformation is represented;
under the condition of long-time non-stationary response, the modal primary coordinate response of the appointed order is taken as a modal primary coordinate response time domain signal of the appointed order, the modal primary coordinate response time domain signal of the appointed order is firstly intercepted by a rectangular window function section, and then short-time Fourier transformation is carried out on the modal primary coordinate response time domain signals of the appointed order of each section, so that the modal primary coordinate response time domain signal of the appointed order is obtained:
wherein ,
is the time spectrum of the modal principal coordinate response of the appointed order, and h (t) represents a rectangular window function;
based on a ship three-dimensional acousto-elastic time domain analysis theory, according to a time spectrum of modal principal coordinate response of a designated order and designated elements in a modal radiation acoustic damping matrix corresponding to the time spectrum, a calculation formula of the underwater radiation acoustic power is obtained:
wherein ,[T3 ,T 4 ]Representing the intercept time interval of the rectangular window function.
The further technical scheme is that if the window function does not adopt a rectangular window, a correction coefficient C is introduced:
the calculation formula of the radiated acoustic power in water in the case of long-time non-stationary response is:
the further technical scheme is that the vibration response vector is as follows:
wherein u (t) is the vibration response column vector of the ship structure, D r For the vibration mode displacement column vector corresponding to the r-th order dry mode, q r (t) is the r element in the dry modal generalized principal coordinate displacement response column vector q (t), and m represents the truncated modal order.
The further technical scheme is that the modal radiation acoustic damping matrix is as follows:
wherein ,Brj (ω) is an element in the modal radiation acoustic damping matrix ρ 0 For the density of water, ω is the angular frequency, im represents the imaginary part of a complex number,
representing the wet surface of the ship,/->
Is the unit normal vector pointing to the flow field on the wet surface of the ship,
is the vibration mode linear displacement vector corresponding to the ship's r-th order dry mode, < >>
φ j Is the velocity potential of the radiated sound wave caused when the ship vibrates in the j-th order mode shape displacement.
The further technical scheme is that the generalized kinetic equation of the ship structure is as follows:
wherein a is a dry mode generalized mass matrix, b is a dry mode generalized damping matrix, c is a dry mode generalized stiffness matrix,
response column vector for dry mode generalized principal coordinate acceleration, +.>
For the velocity response column vector of the dry mode generalized main coordinate, q (t) is the displacement response column vector of the dry mode generalized main coordinate, f (t) is the velocity response column vector of the mode generalized excitation force, and t represents time.
The beneficial technical effects of the invention are as follows:
the method for analyzing the three-dimensional acoustic elasticity time domain of the ship is applied to the problem of underwater acoustic radiation caused by calculating the vibration of the flow excitation structure for the first time, the whole calculation is decoupled into two parts, namely the calculation of the vibration of the flow excitation structure and the calculation of the underwater acoustic radiation power caused by the vibration of the structure, and the overall calculation complexity is greatly improved; the vibration response vector is used as a boundary condition of the fluid-solid contact wet surface to update the dynamic force of the flow field in real time, so as to update the modal principal coordinate displacement response column vector and the vibration response vector, and improve the accuracy of fluid-solid real-time coupling calculation; the convolution integral of the frequency domain dry mode attached water quality and the attached water damping (namely the mode radiation acoustic damping) and the Fourier transformation of the mode main coordinate response are utilized to directly derive a fluid-solid coupling time domain equation, and the method does not need to directly calculate a time domain sound field, so that the flow field area is smaller, the ship vibration response and the underwater radiation acoustic power can be calculated in real time, the calculation complexity is greatly reduced, the calculation efficiency is improved, and the influence of the boundary truncation effect on the acoustic radiation does not exist due to the fact that the underwater radiation acoustic power is directly calculated, and the method can be applied to solving the acoustic vibration coupling problem in transient state or associated with nonlinear factors.
Drawings
Fig. 1 is a flowchart of a fluid-fixed acoustic coupling calculation method provided in the present application.
Fig. 2 is a schematic diagram of the fluid-fixed acoustic coupling calculation method provided herein.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
The application discloses a fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic-elastic time domain analysis, which is shown by combining a flow chart 1 and a schematic diagram 2,
the fluid-solid acoustic coupling calculation method comprises the following steps:
step 1: and calculating a ship structure dry mode (namely a mode of a structure in vacuum) by adopting finite element software to obtain a corresponding dry mode generalized mass matrix a, a generalized damping matrix b, a generalized stiffness matrix c and a mode vibration mode displacement matrix D of each order.
Step 2: based on the ship three-dimensional acoustic elastic theory, taking a ship structure dry mode with orthographic completeness as a generalized basis function, and calculating in a frequency domain to obtain a mode radiation acoustic damping matrix corresponding to the generalized basis function.
That is, the elements for calculating the modal radiation acoustic damping form a modal radiation acoustic damping matrix as shown in formula (1):
wherein ,Brj (ω) is an element in the modal radiation acoustic damping matrix ρ 0 For the density of water, ω is the angular frequency, im represents the imaginary part of a complex number,
representing the wet surface of the ship,/->
Is the unit normal vector pointing to the flow field on the wet surface of the ship,
is the vibration mode linear displacement vector corresponding to the ship's r-th order dry mode, < >>
φ j Is the velocity potential of the radiated sound wave caused when the ship vibrates in the j-th order mode shape displacement.
Step 3: dynamic forces of the flow field acting on the vessel are obtained by a computational fluid dynamics method.
The method is not limited to the computational fluid dynamics method, and the existing mature computational fluid dynamics method is selected from the aspects of complexity, calculated amount and calculation accuracy of fluid-solid coupling calculation. Alternatively, from the viewpoint of fine calculation of the flow field, there are also many available calculation methods such as a finite difference method, a finite volume method, and a lattice boltzmann method. The selected computational fluid dynamics method is used for calculating the motion of the flow field and obtaining the dynamic force of the flow field acting on the ship.
Step 4: and (3) calculating the vibration response of the structure of the flow excited ship:
step 401: based on a modal superposition method theory of ship structure vibration calculation, multiplying dynamic force by each order of modal shape displacement column vector, and converting to obtain a corresponding modal generalized excitation force column vector. The displacement column vector of each order of the mode shape is obtained by converting the displacement matrix of each order of the mode shape.
Step 402: establishing a ship structure generalized dynamics equation according to a ship structure dry mode, substituting a dry mode generalized mass matrix a, a generalized damping matrix b, a generalized stiffness matrix c and a modal generalized excitation force column vector into the ship structure generalized dynamics equation to obtain the ship structure generalized dynamics equation as shown in a formula (2)Modal principal coordinate response q of specified order r (t)。q r (t) is the r-th element in the dry-mode generalized principal coordinate displacement response column vector q (t), and the subscript r represents the order of the mode.
Wherein a is a dry mode generalized mass matrix, b is a dry mode generalized damping matrix, c is a dry mode generalized stiffness matrix,
response column vector for dry mode generalized principal coordinate acceleration, +.>
For the velocity response column vector of the dry mode generalized main coordinate, q (t) is the displacement response column vector of the dry mode generalized main coordinate, f (t) is the velocity response column vector of the mode generalized excitation force, and t represents time.
Step 403: based on a modal superposition theory, a vibration response vector of the ship structure is obtained according to a modal shape displacement matrix of the appointed order and a modal main coordinate response of the appointed order corresponding to the modal shape displacement matrix.
Wherein u (t) is the vibration response column vector of the ship structure, D r And the mode displacement column vector corresponding to the r-th order dry mode is represented by m, and the m represents the truncated mode order.
Step 404: substituting the vibration response vector as the boundary condition of the fluid-solid contact wet surface into the boundary condition of the fluid-solid contact wet surface and re-executing the step of obtaining the dynamic force of the flow field acting on the ship through a computational fluid dynamics method, namely, step 3, until the time length set by fluid-solid acoustic coupling calculation is reached. The time length is not limited, and the actual demand time is taken as the reference.
The dynamic force of the flow field is updated in real time to update the modal main coordinate displacement response column vector q (t) and the vibration response vector, so that the accuracy of fluid-solid real-time coupling calculation is improved, a display algorithm or an implicit algorithm is adopted in a time domain to solve the generalized main coordinate response of each order of the dry modal, and a specific algorithm is determined according to the conditions of calculation efficiency, calculation accuracy, calculation convergence and the like.
Step 5: based on the ship three-dimensional acoustic elasticity theory, the underwater radiation acoustic power is obtained according to the modal principal coordinate response of the designated order and the modal radiation acoustic damping matrix corresponding to the modal principal coordinate response.
Under the condition of long-time stable response, carrying out Fourier transformation on modal principal coordinate response of a designated order to obtain:
wherein ,
is the spectrum of the modal principal coordinate response of a given order, [ T ] 1 ,T 2 ]Representing a time period interval during which the signal is intercepted;
based on a ship three-dimensional acoustic elastic time domain analysis theory, according to the frequency spectrum of the modal principal coordinate response of the appointed order and the appointed element in the modal radiation acoustic damping matrix corresponding to the frequency spectrum, the calculation formula for obtaining the underwater radiation acoustic power is as follows:
wherein Re represents the real part of a complex number, the superscript represents the conjugate of the complex number, B rj (ω) is an element in the modal radiation acoustic damping matrix,
and the j-order modal principal coordinate response of the j-th element in the column vector q (t) of the dry modal generalized principal coordinate displacement response is represented in the frequency domain through Fourier transformation.
Under the condition of long-time non-stationary response, the modal primary coordinate response of the appointed order is taken as a modal primary coordinate response time domain signal of the appointed order, the modal primary coordinate response time domain signal of the appointed order is firstly intercepted by a rectangular window function section, and then short-time Fourier transformation is carried out on the modal primary coordinate response time domain signals of the appointed order of each section, so that the modal primary coordinate response time domain signal of the appointed order is obtained:
wherein ,
is the time spectrum of the modal principal coordinate response of the appointed order, and h (t) represents a rectangular window function;
based on a ship three-dimensional acousto-elastic time domain analysis theory, according to a time spectrum of modal principal coordinate response of a designated order and designated elements in a modal radiation acoustic damping matrix corresponding to the time spectrum, a calculation formula of the underwater radiation acoustic power is obtained:
wherein ,[T3 ,T 4 ]Representing the intercept time interval of the rectangular window function.
If the window function does not use a rectangular window, then a correction coefficient C is introduced:
the calculation formula of the radiated acoustic power in water in the case of long-time non-stationary response is:
by passing through
The magnitude of the acoustic power radiated into the water by the vessel's vibration at each instant t can be given.
The method for analyzing the three-dimensional acoustic elasticity time domain of the ship is applied to the problem of underwater acoustic radiation caused by calculating the vibration of the flow excitation structure for the first time, the whole calculation is decoupled into two parts, namely the calculation of the vibration of the flow excitation structure and the calculation of the underwater acoustic radiation power caused by the vibration of the structure, and the overall calculation complexity is greatly improved; the convolution integral of the frequency domain dry mode attached water quality and the attached water damping (namely the mode radiation acoustic damping) and the Fourier transformation of the mode main coordinate response are utilized to directly derive a fluid-solid coupling time domain equation, and the method does not need to directly calculate a time domain sound field, so that the flow field area is smaller, the ship vibration response and the underwater radiation acoustic power can be calculated in real time, the calculation complexity is greatly reduced, the calculation efficiency is improved, and the influence of the boundary truncation effect on the acoustic radiation does not exist due to the fact that the underwater radiation acoustic power is directly calculated, and the method can be applied to solving the acoustic vibration coupling problem in transient state or associated with nonlinear factors. Therefore, the method provides a novel technical scheme with excellent development prospect for the research field of ship fluid-solid acoustic coupling calculation.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present invention are deemed to be included within the scope of the present invention.
Claims (7)
1. The fluid-solid acoustic coupling calculation method based on the ship three-dimensional acoustic elastic time domain analysis is characterized by comprising the following steps of:
calculating a ship structure dry mode by adopting finite element software to obtain a corresponding dry mode generalized mass matrix, a generalized damping matrix, a generalized stiffness matrix and a mode shape displacement matrix of each order;
based on a ship three-dimensional acoustic elastic theory, taking the ship structure dry mode with orthographic completeness as a generalized basis function, and calculating in a frequency domain to obtain a mode radiation acoustic damping matrix corresponding to the generalized basis function;
acquiring dynamic force of a flow field acting on a ship through a computational fluid dynamics method;
multiplying the dynamic force by each order of modal shape displacement column vectors based on a modal superposition method theory of ship structure vibration calculation, and converting the dynamic force into corresponding modal generalized excitation force column vectors, wherein each order of modal shape displacement column vectors is obtained by converting each order of modal shape displacement matrix;
establishing a ship structure generalized kinetic equation according to the ship structure dry mode, substituting the dry mode generalized mass matrix, the generalized damping matrix, the generalized stiffness matrix and the modal generalized excitation force column vector into the ship structure generalized kinetic equation to obtain a modal main coordinate response of a designated order;
obtaining a vibration response vector of the ship structure according to the modal shape displacement matrix of the appointed order and the modal main coordinate response of the appointed order corresponding to the modal shape displacement matrix of the appointed order;
and obtaining the underwater radiation acoustic power according to the modal principal coordinate response of the designated order and the modal radiation acoustic damping matrix corresponding to the modal principal coordinate response based on the ship three-dimensional acoustic elasticity theory.
2. The method of calculating the fluid-solid acoustic coupling based on the three-dimensional acoustic-elastic time domain analysis of the ship according to claim 1, further comprising:
substituting the vibration response vector serving as a fluid-solid contact wet surface boundary condition into the fluid-solid contact wet surface boundary condition and re-executing the step of obtaining dynamic force of a flow field acting on a ship through a computational fluid dynamics method until the fluid-solid acoustic coupling calculation set time length is reached.
3. The fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis according to claim 1, wherein the obtaining the underwater radiation acoustic power according to the modal principal coordinate response of the designated order and the modal radiation acoustic damping matrix corresponding thereto based on the ship three-dimensional acoustic elastic theory comprises:
under the condition of long-time stable response, carrying out Fourier transformation on the modal principal coordinate response of the appointed order to obtain:
wherein ,
is the spectrum of the modal principal coordinate response of the designated order, q r (T) is the (th) element in the dry-mode generalized principal coordinate displacement response column vector q (T) [ T ] 1 ,T 2 ]Representing a time period interval during which the signal is intercepted;
based on a ship three-dimensional acoustic elastic time domain analysis theory, according to the frequency spectrum of the modal principal coordinate response of the appointed order and the appointed element in the modal radiation acoustic damping matrix corresponding to the frequency spectrum, the calculation formula of the underwater radiation acoustic power is obtained:
wherein Re represents the real part of a complex number, the superscript represents the conjugate of the complex number, B rj (ω) is an element in the modal radiation acoustic damping matrix,
the j-order modal principal coordinate response of the j-th element in the column vector q (t) of the dry modal generalized principal coordinate displacement response in the frequency domain through Fourier transformation is represented;
under the condition of long-time non-stationary response, the modal primary coordinate response of the designated order is used as a modal primary coordinate response time domain signal of the designated order, the modal primary coordinate response time domain signal of the designated order is firstly intercepted by a rectangular window function section, and then short-time Fourier transformation is carried out on the modal primary coordinate response time domain signals of the designated order in each section, so that the modal primary coordinate response time domain signal of the designated order is obtained:
wherein ,
is the time spectrum of the modal principal coordinate response of the appointed order, and h (t) represents a rectangular window function;
based on a ship three-dimensional acoustic elastic time domain analysis theory, according to the time spectrum of the modal principal coordinate response of the designated order and the designated elements in the modal radiation acoustic damping matrix corresponding to the time spectrum, the calculation formula of the underwater radiation acoustic power is obtained:
wherein ,[T3 ,T 4 ]Representing the intercept time interval of the rectangular window function.
4. The fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis according to claim 3, wherein if the window function does not use a rectangular window, a correction coefficient C is introduced:
the calculation formula of the radiated acoustic power in water in the case of the long-time non-stationary response is:
5. the fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis according to claim 1 or 2, wherein the vibration response vector is:
wherein u (t) is the vibration response column vector of the ship structure, D r For the vibration mode displacement column vector corresponding to the r-th order dry mode, q r (t) is the r element in the dry modal generalized principal coordinate displacement response column vector q (t), and m represents the truncated modal order.
6. A fluid-fixed acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis according to claim 1 or 3, wherein the modal radiation acoustic damping matrix is:
wherein ,Brj (ω) is an element in the modal radiation acoustic damping matrix ρ 0 For the density of water, ω is the angular frequency, im represents the imaginary part of a complex number,
representing the wet surface of the ship,/->
Is the unit normal vector pointing to the flow field on the wet surface of the ship,
is the vibration mode linear displacement vector corresponding to the ship's r-th order dry mode, < >>
φ j In the j-th order mode shape for shipThe velocity potential of the radiated sound wave caused by the displacement vibration.
7. The fluid-solid acoustic coupling calculation method based on ship three-dimensional acoustic elastic time domain analysis according to claim 1, wherein the ship structure generalized kinetic equation is:
wherein a is a dry mode generalized mass matrix, b is a dry mode generalized damping matrix, c is a dry mode generalized stiffness matrix,
response column vector for dry mode generalized principal coordinate acceleration, +.>
For the velocity response column vector of the dry mode generalized main coordinate, q (t) is the displacement response column vector of the dry mode generalized main coordinate, f (t) is the velocity response column vector of the mode generalized excitation force, and t represents time. />
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