CN112257308A - Dynamic response calculation method and system for walking of underwater crawler equipment on thin and soft soil body - Google Patents
Dynamic response calculation method and system for walking of underwater crawler equipment on thin and soft soil body Download PDFInfo
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Abstract
The invention discloses a dynamic response calculation method and a dynamic response calculation system for the walking of a thin and soft soil body of underwater crawler equipment, wherein the dynamic response calculation method comprises the following steps: acquiring physical characteristic parameters of an underwater weak soil body; constructing three-dimensional solid models of different tooth-shaped creeper treads; constructing a discrete unit model of the underwater weak and soft soil body by combining physical characteristic parameters of the underwater weak and soft soil body and a three-dimensional entity model of the creeper tread based on a Hertz contact theory, and performing batch simulation on the discrete units to obtain interaction results of the creeper treads with different tooth shapes and the underwater weak and soft soil body; performing curve fitting on the simulation result, and establishing a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body; and solving a kinetic equation to obtain the kinetic response of the underwater crawler belt equipment walking on the thin soft soil body. The method can more accurately describe the mechanical action rule of the crawler and the thin soft soil body, and provides a theoretical basis for the walking control of the underwater crawler equipment.
Description
Technical Field
The invention relates to the technical field of soil theoretical modeling, in particular to a dynamic response calculation method and system for walking of an underwater crawler belt device through a thin and soft soil body.
Background
In recent years, urban inland inundation and mine flood frequently occur, thereby causing serious casualties and economic losses. The emergency rescue is a teaching obtained after a tragic accident, and the emergency rescue equipment is a powerful weapon and an important guarantee of the emergency rescue and plays an extremely important role. Because the operation environment of urban inland inundation and river dredging is complex and the risk factors are many, the ground underwater obstacle clearing operation needs to be carried out by means of strong wading, multifunctional and high-mobility equipment with remote control operation capacity, and the crawler-type robot becomes the best choice of an underwater emergency rescue vehicle due to the advantages of large traction force, good trafficability, strong climbing capacity and the like.
Although the existing crawler vehicles are researched more, the corresponding theoretical research is less, and particularly, the research field of the interaction rule of crawler equipment and ultra-thin soft soil is more prominent in the complex underwater environment. Most of the existing soil models are land soil, and the research on the bottom soil of rivers is less. Although the deep-sea mining machine is related to calculation of seabed soil, the working depth is 5000m, the seabed soil is hard under the action of pressure and is greatly different from river bottom soil, and therefore, the calculation error of soil resistance in the walking process of the underwater crawler equipment can be increased by representing the characteristics of the underwater ultra-thin soft soil body by applying the classical theory, so that the driving force distribution of the underwater crawler equipment is deviated, and the walking of the complicated underwater environment crawler equipment is influenced.
Disclosure of Invention
The invention provides a dynamic response calculation method and a dynamic response calculation system for walking of underwater crawler equipment, which are used for solving the technical problems that the existing simulation calculation method applies the classical theory to represent the characteristics of underwater ultra-thin soft soil, increases the soil resistance calculation error in the walking process of the underwater crawler equipment, causes deviation in the distribution of the driving force of the underwater crawler equipment and influences the walking of the crawler equipment in a complex underwater environment.
In order to solve the technical problems, the invention provides the following technical scheme:
in one aspect, the invention provides a dynamic response calculation method for walking of a thin and soft soil body of underwater crawler equipment, which comprises the following steps:
acquiring physical characteristic parameters of an underwater weak soil body; constructing three-dimensional solid models of different tooth-shaped creeper treads;
constructing a discrete unit model of the underwater thin and soft soil body by combining physical characteristic parameters of the underwater thin and soft soil body and three-dimensional entity models of different tooth-shaped track shoes based on a Hertz contact theory, and simulating interaction results of the track shoes with different tooth shapes and the underwater thin and soft soil body in batches based on the discrete unit model of the underwater thin and soft soil body;
performing curve fitting on interaction results of the track shoe with different tooth shapes and the underwater weak soil body obtained through simulation, and establishing a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body;
and solving the kinetic equation to obtain the kinetic response of the underwater crawler belt equipment walking on the thin soft soil body.
Further, the building of the three-dimensional solid model of the different toothed track shoes comprises the following steps:
establishing parameterized three-dimensional solid models of creeper treads with different shapes and sizes by using three-dimensional modeling software SolidWorks; the parameterized three-dimensional solid model comprises a parameterized three-dimensional solid model of a track shoe with a T-shaped grouser shape and a parameterized three-dimensional solid model of a track shoe with a V-shaped grouser shape.
Further, the method for constructing the discrete unit model of the underwater weak and soft soil body based on the hertz contact theory by combining the physical characteristic parameters of the underwater weak and soft soil body and the three-dimensional entity models of different toothed track shoes comprises the following steps:
based on the Hertz contact theory and the physical characteristic parameters of the underwater weak and soft soil body, writing an API control program to represent the normal and tangential action rules of the track shoe and the underwater weak and soft soil body;
and importing three-dimensional entity models of different tooth-shaped track shoes into discrete unit analysis software EDEM, setting soil particle material characteristic parameters of the underwater weak and soft soil body by combining with a compiled API control program, defining an interaction rule of soil particles, and dividing grids to construct a discrete unit model of the underwater weak and soft soil body.
Further, the discrete unit model based on the underwater weak soil body simulates interaction results of the crawler boards with different tooth shapes and the underwater weak soil body in batches, and comprises the following steps:
based on the discrete unit model of the underwater weak soil body, the batch simulation calculation of the indentation characteristics and the shearing characteristics of the crawler boards with different tooth shapes is carried out, and the cohesive deformation modulus, the friction deformation modulus, the deformation coefficient, the maximum shearing stress, the residual shearing stress, the ratio of the residual shearing stress to the maximum shearing stress and the corresponding shearing displacement when the maximum shearing stress is generated are obtained.
Further, curve fitting is carried out on interaction results of the track shoe with different tooth shapes and the underwater weak soil body obtained through simulation, and a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body is established, wherein the equation comprises the following steps:
curve fitting is carried out on interaction results of the track shoes with different tooth shapes and the underwater thin and soft soil body obtained through simulation, and pressure subsidence models of a loose layer and a dense layer of the underwater thin and soft soil body are respectively constructed as follows:
nl＝1/2nd
wherein p isloose-layerTrack shoe ground pressure p representing dense layer of underwater weak and soft soil bodydense-layerShowing the specific grounding pressure of the creeper tread of the loose layer of the underwater weak soil body; k is a radical ofcdExpressing the cohesive deformation modulus, k, of a dense layer of underwater weak soilclRepresenting the cohesive deformation modulus of the unconsolidated layer of the underwater weak soil body; k is a radical ofφdExpressing the modulus of frictional deformation, k, of a dense layer of underwater weak and soft soilφlThe friction deformation modulus of a loose layer of the underwater weak soil body is represented; b represents the track width of the underwater track equipment; z represents the track shoe sag depth; n isdRepresenting the deformation coefficient, n, of the mass of a dense layer of underwater weak and soft masslAnd the deformation coefficient of the soil body of the loose layer of the underwater weak soil body is shown.
Further, performing curve fitting on interaction results of the track shoe with different tooth shapes and the underwater weak soil body obtained through simulation, and establishing a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body further comprises the following steps:
curve fitting is carried out on interaction results of the track plates with different tooth shapes and the underwater thin soft soil body obtained through simulation, and a soil traction model of the track equipment is deduced according to track structure parameters of the track equipment, and the method comprises the following steps:
the stress distribution on the grouser side is obtained according to the passive earth theory as follows:
where σ represents the stress distribution on the grouser side; b represents the track width of the underwater track equipment; h represents the grouser height; p represents the ground pressure of the track shoe;
the structural characteristics of the track shoe are considered, and the normal component of the soil pressure on the side surface of the grouser is deduced as follows:
θ＝arctan(b0/2h)
wherein N represents the normal component of the soil pressure on the grouser side; b0Representing the width of the track shoe; θ represents a grouser shape parameter;
a soil traction model of the underwater crawler equipment is derived as follows:
wherein F represents the soil traction of the underwater crawler equipment; l represents the track contact length of the underwater track equipment; a represents a ground area; c represents the cohesion of the weak soil body; phi represents the internal friction angle of the weak soil body; krRepresenting the ratio of the residual shear stress to the maximum shear stress; kwRepresenting the corresponding shear displacement when the maximum shear stress is generated; i represents the slip rate of the underwater crawler belt equipment walking on the thin soft soil body; w represents the vehicle weight.
Further, the solving the dynamic equation to obtain the dynamic response of the underwater crawler equipment walking on the thin soft soil body comprises:
and (3) programming by utilizing Matlab software, solving the kinetic equation, and finally obtaining a three-dimensional schematic diagram of the walking kinetic characteristic of the underwater crawler belt equipment on the thin and soft soil body under the working condition of the underwater thin and soft soil body.
On the other hand, the invention also provides a dynamic response computing system for walking of the underwater crawler equipment with the thin and soft soil body, which comprises the following components:
the device comprises a weak soil physical characteristic parameter acquisition module, a data processing module and a data processing module, wherein the weak soil physical characteristic parameter acquisition module is used for acquiring physical characteristic parameters of an underwater weak soil;
the crawler plate three-dimensional solid model building module is used for building three-dimensional solid models of different tooth-shaped crawler plates;
the soil discrete unit model construction and batch simulation calculation module is used for constructing a discrete unit model of the underwater weak soil body by combining physical characteristic parameters of the underwater weak soil body and three-dimensional entity models of different tooth-shaped track shoes based on a Hertz contact theory, and simulating interaction results of the track shoes with different tooth shapes and the underwater weak soil body in batches based on the discrete unit model of the underwater weak soil body;
the semi-empirical general kinetic equation establishing module is used for performing curve fitting on interaction results of the creeper tread and the underwater weak soil body with different tooth shapes, which are obtained by the soil discrete unit model establishing and batch simulation calculation module simulation, and establishing a semi-empirical general kinetic equation of the creeper tread and the underwater weak soil body;
and the dynamic response solving module is used for solving the dynamic equation to obtain the dynamic response of the underwater crawler equipment walking on the thin soft soil body.
In yet another aspect, the present invention also provides an electronic device comprising a processor and a memory; wherein the memory has stored therein at least one instruction that is loaded and executed by the processor to implement the above-described method.
In yet another aspect, the present invention also provides a computer-readable storage medium having at least one instruction stored therein, the instruction being loaded and executed by a processor to implement the above method.
The technical scheme provided by the invention has the beneficial effects that at least:
by using the method disclosed by the invention, the root mean square error of the pressure-subsidence models of the creeper tread with different crawler tooth shapes is calculated to be 0.5, while the root mean square error of the pressure-subsidence models of the creeper tread calculated by using a classical method is calculated to be 2.6, so that the method disclosed by the invention has great advantages on the solving accuracy; according to the invention, by establishing the relationship between the crawler belt and the crawler belt equipment, particularly the relationship between the crawler plate and the crawler belt equipment driving wheel and the relationship between the outer shape parameter of the crawler belt teeth and the soil traction force, a soil traction force model of the underwater crawler belt equipment is refined, the mechanical action rule of the crawler belt and the weak soil body can be more accurately described, and a theoretical basis is provided for the walking control of the underwater crawler belt equipment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a working flow chart of a dynamic response calculation method for walking of a thin and soft soil body of an underwater crawler equipment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional solid model of a track shoe according to an embodiment of the present invention; the three-dimensional solid model of the T-shaped track shoe is shown in the drawing, (a) and (b) are shown in the drawing;
FIG. 3 is a schematic cross-sectional view of a track shoe according to an embodiment of the present invention; wherein, (a) is a cross-sectional schematic view of a T-shaped track shoe, and (b) is a cross-sectional schematic view of a V-shaped track shoe;
FIG. 4 is a schematic diagram of simulation calculation of soil shear characteristics in EDEM according to the embodiment of the present invention;
FIG. 5 is a fitting curve graph of pressure-subsidence simulation data of a weak and soft soil body provided by an embodiment of the invention;
FIG. 6 is a comparative graph of a model of a soft soil loosening zone provided by an embodiment of the present invention;
FIG. 7 is a fitting curve graph of shear stress-displacement simulation data of a weak and soft soil body provided by an embodiment of the present invention;
fig. 8 is a schematic diagram of a dynamic response curve of the underwater crawler belt device walking on the ultra-thin soft soil body according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
First embodiment
The embodiment provides a dynamic response calculation method for walking of an underwater crawler equipment with a thin soft soil body, and in order to reduce errors generated by calculating an ultra-thin soft soil body through a classical model, the method of the embodiment provides a piecewise function semi-empirical general model based on an underwater ultra-thin soft soil layering phenomenon, and deduces a soil traction model of a crawler according to crawler structure parameters of the underwater crawler equipment so as to improve calculation accuracy. The underwater crawler belt equipment dynamic response simulation calculation method under the weak soil body can be realized by electronic equipment, and the electronic equipment can be a terminal or a server. The execution flow of the method is shown in fig. 1, and comprises the following steps:
s101, obtaining physical characteristic parameters of the thin soft soil body; constructing three-dimensional solid models of different tooth-shaped creeper treads;
specifically, in this embodiment, the implementation process of the above steps is as follows:
acquiring physical characteristic parameters of the weak and soft soil body: and collecting an underwater weak soil sample to be simulated, and carrying out physical characteristic test on the collected sample to obtain a physical characteristic curve.
Constructing three-dimensional solid models of different tooth-shaped track shoes: establishing parameterized three-dimensional solid models of creeper treads with different shapes and sizes by using three-dimensional modeling software SolidWorks; the parameterized three-dimensional solid model constructed in this embodiment includes a three-dimensional solid model of a track shoe with a T-shaped grouser profile as shown in fig. 2 (a) and a three-dimensional solid model of a track shoe with a V-shaped grouser profile as shown in fig. 2 (b). The cross-section of the T-shaped track shoe is shown in fig. 3 (a), and the cross-section of the V-shaped track shoe is shown in fig. 3 (b).
S102, constructing a discrete unit model of the underwater weak and soft soil body based on a Hertz contact theory and by combining physical characteristic parameters of the underwater weak and soft soil body and a three-dimensional entity model of the creeper tread, and simulating interaction results of the creeper tread with different tooth shapes and the underwater weak and soft soil body in batches based on the discrete unit model of the underwater weak and soft soil body;
specifically, in this embodiment, the implementation process of the above steps is as follows:
compiling an API control program of a soil particle action rule based on a Hertz contact theory and physical characteristic parameters of the underwater weak and soft soil body so as to represent normal and tangential action rules of the track shoe and the underwater weak and soft soil body;
the method comprises the steps of (1) importing three-dimensional entity models of different tooth-shaped track shoes constructed in the step (S101) into discrete unit analysis software EDEM, completing parameterization setting of soil body physical characteristics according to actual walking conditions of underwater track equipment in a preprocessing module of the EDEM in combination with a compiled API control program, setting soil particle material characteristic parameters, defining interaction rules of soil particles, and dividing grids to construct discrete unit models of underwater weak and soft soil bodies; the soil particle modeling area and the track plate model need to ensure a certain proportional relation so as to prevent the wall surface effect caused by the fact that the distance between the track plate structure and the soil simulation edge is too small.
Based on the constructed discrete unit model of the underwater weak and soft soil body, the pressure collapse characteristics and the shearing characteristics of the crawler boards with different tooth shapes are subjected to batch simulation calculation to obtain the cohesive deformation modulus, the friction deformation modulus, the deformation coefficient, the maximum shearing stress, the residual shearing stress, the ratio of the residual shearing stress to the maximum shearing stress and the accurate parameter value of the corresponding shearing displacement when the maximum shearing stress is generated. The simulation calculation result of the soil shear characteristic in the EDEM is shown in fig. 4.
S103, performing curve fitting on interaction results of the track shoe with different tooth shapes and the underwater weak soil body obtained through simulation, and establishing a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body;
specifically, in this embodiment, the implementation process of the above steps is as follows:
first, it should be noted that the above semi-empirical general kinetic equation is divided into two parts: pressure-subsidence, shear stress-displacement; wherein, the significance of the pressure-subsidence model is as follows: and deducing the subsidence of the soil according to the pressure, and deducing the resistance of the soil when the crawler travels according to the subsidence. The shear stress-displacement meaning is: and deducing the traction of the soil according to the shear stress-displacement, namely the traction which can be provided by the soil for the vehicle when the crawler runs.
The method comprises the following steps of (1) a piecewise function semi-empirical general model based on an underwater thin and soft soil layering phenomenon: according to the pressure-subsidence characteristic of the river surface layer weak soil body, a segmented pressure-subsidence model is established and divided into a loose layer model and a compact layer model, parameters are independently selected for calculation respectively, and a calculation result is more accurate than a classical model, so that the soil resistance of a vehicle during walking can be calculated more accurately, and the method specifically comprises the following steps:
based on the simulation result of S102, by combining the fitting pressure-subsidence data relation of the soil in the loose state and the dense state as shown in FIG. 5 and referring to the conventional classical pressure-subsidence formula of the common soil body, a segmented step function is provided, and pressure subsidence models of a loose layer and a dense layer of the underwater weak soil body are respectively constructed, so that the soil resistance in the walking process of the underwater crawler equipment is more accurately calculated; wherein, the comparison curve of the loose area model of the weak soil body is shown in fig. 6, and the expression of the pressure subsidence model is as follows:
nl＝1/2nd
wherein p isloose-layerTrack shoe ground pressure p representing dense layer of underwater weak and soft soil bodydense-layerShowing the specific grounding pressure of the creeper tread of the loose layer of the underwater weak soil body; k is a radical ofcdExpressing the cohesive deformation modulus, k, of a dense layer of underwater weak soilclRepresenting the cohesive deformation modulus of the unconsolidated layer of the underwater weak soil body; k is a radical ofφdExpressing the modulus of frictional deformation, k, of a dense layer of underwater weak and soft soilφlThe friction deformation modulus of a loose layer of the underwater weak soil body is represented; b represents the track width of the underwater track equipment; z represents the track shoe sag depth; n isdRepresenting the deformation coefficient, n, of the mass of a dense layer of underwater weak and soft masslAnd the deformation coefficient of the soil body of the loose layer of the underwater weak soil body is shown.
Soil traction model of crawler rig: according to the shearing characteristic of the river surface layer thin and soft soil body, a soil traction model is deduced, and the relation between soil traction and the shape of the crawler belt and the relation between the soil traction and the driving wheels are established, so that boundary conditions can be provided for the walking control of crawler belt equipment, and the method is as follows:
based on the simulation result of S102, establishing a pressure-subsidence relation of the weak and soft soil body shown in figure 5 and a shear stress-displacement relation shown in figure 7, and deducing a soil traction force model of the crawler according to crawler structure parameters of the underwater crawler equipment; the derivation process of the soil traction force model of the crawler is as follows:
the stress distribution on the grouser side is obtained according to the passive earth theory as follows:
where σ represents the stress distribution on the grouser side; b represents the track width of the underwater track equipment; h represents the grouser height; p represents the ground pressure of the track shoe;
the normal component of the soil pressure on the side surface of the grouser is deduced by considering the structural characteristics of the track shoe, and the normal component is as follows:
θ＝arctan(b0/2h)
wherein N represents a caterpillar tooth sideA normal component of soil pressure on the face; b0The width of the track shoe is represented and is determined by the pitch of the driving wheel; theta represents a grouser shape parameter, and when theta is 0, the V-shaped track can be equivalent to a T-shaped track, as shown in fig. 3;
further, a soil traction model of the underwater crawler equipment can be deduced according to a classical theory as follows:
wherein F represents the soil traction of the underwater crawler equipment; l represents the track contact length of the underwater track equipment; a represents a ground area; c represents the cohesion of the weak soil body; phi represents the internal friction angle of the weak soil body; krRepresenting the ratio of the residual shear stress to the maximum shear stress; kwRepresenting the corresponding shear displacement when the maximum shear stress is generated; i represents the slip rate of the underwater crawler belt equipment walking on the thin soft soil body; w represents the vehicle weight.
And S104, solving a kinetic equation to obtain the kinetic response of the underwater crawler equipment walking on the thin soft soil body.
Specifically, in this embodiment, the implementation process of the above steps is as follows:
and solving the kinetic equation by utilizing a Matlab programming program to finally obtain a three-dimensional schematic diagram of the walking kinetic characteristic of the underwater crawler belt equipment on the thin and soft soil body under the working condition of the underwater thin and soft soil body as shown in FIG. 8.
In summary, in order to accurately solve the soil resistance caused by the underwater weak and soft soil body to the walking of the crawler equipment, the embodiment provides a dynamic response calculation method for the walking of the underwater weak and soft soil body of the crawler equipment, and a discrete unit model of the underwater weak and soft soil body is established by compiling a model of action rules among soil body particles. Through batch soil body particle discrete unit simulation calculation, the interaction mechanism of the crawler equipment and the underwater thin soft soil body is analyzed, a piecewise function semi-empirical general model based on the layering phenomenon of the underwater thin soft soil body is provided, and a soil traction model of the crawler is deduced according to the crawler structural parameters of the underwater crawler equipment, so that errors caused by mismatching of the characteristics of the underwater thin soft soil body and a classic soil model are reduced, and the calculation precision is improved.
The discrete unit model of the underwater ultra-thin soft soil body established by the dynamic response calculation method for the walking of the underwater crawler equipment and the thin soft soil body can truly reflect the physical characteristic rule of the underwater ultra-thin soft soil body, and the semi-empirical general kinetic equation of the crawler and the thin soft soil body established by the method can more accurately describe the mechanical action rule of the crawler and the thin soft soil body and provide an accurate and reliable theoretical basis for the accurate calculation of the soil resistance of the underwater ultra-thin soft soil body to the walking of the crawler equipment. Moreover, the embodiment also provides a semi-empirical model of the soil traction of the crawler equipment based on the structural size relationship between the crawler and the driving wheel, and the model can establish the relationship between the driving wheel of the crawler equipment and the soil traction, and can describe the influence of the profile parameters of the crawler teeth on the soil traction, thereby providing a dynamic basis for the walking control of the underwater crawler equipment.
Second embodiment
The embodiment provides a dynamic response computing system for walking of a thin and soft soil body of an underwater crawler equipment, which comprises the following modules:
the device comprises a weak soil physical characteristic parameter acquisition module, a data processing module and a data processing module, wherein the weak soil physical characteristic parameter acquisition module is used for acquiring physical characteristic parameters of an underwater weak soil;
the crawler plate three-dimensional solid model building module is used for building three-dimensional solid models of different tooth-shaped crawler plates;
the soil discrete unit model construction and batch simulation calculation module is used for constructing a discrete unit model of the underwater weak soil body by combining physical characteristic parameters of the underwater weak soil body and three-dimensional entity models of different tooth-shaped track shoes based on a Hertz contact theory, and simulating interaction results of the track shoes with different tooth shapes and the underwater weak soil body in batches based on the discrete unit model of the underwater weak soil body;
the semi-empirical general kinetic equation establishing module is used for performing curve fitting on interaction results of the creeper tread and the underwater weak soil body with different tooth shapes, which are obtained by the soil discrete unit model establishing and batch simulation calculation module simulation, and establishing a semi-empirical general kinetic equation of the creeper tread and the underwater weak soil body;
and the dynamic response solving module is used for solving the dynamic equation to obtain the dynamic response of the underwater crawler equipment walking on the thin soft soil body.
The dynamic response calculation system for the walking of the underwater crawler equipment with the thin and soft soil body of the embodiment corresponds to the dynamic response calculation method for the walking of the underwater crawler equipment with the thin and soft soil body of the first embodiment; the functions realized by the functional modules in the dynamic response calculation system for the walking of the underwater crawler equipment with the thin and soft soil body of the embodiment correspond to the flow steps in the dynamic response calculation method for the walking of the underwater crawler equipment with the thin and soft soil body of the first embodiment one by one; therefore, it is not described herein.
Third embodiment
The present embodiment provides an electronic device, which includes a processor and a memory; wherein the memory has stored therein at least one instruction that is loaded and executed by the processor to implement the method of the first embodiment.
The electronic device may generate a large difference due to different configurations or performances, and may include one or more processors (CPUs) and one or more memories, where at least one instruction is stored in the memory, and the instruction is loaded by the processor and performs the following steps:
s101, obtaining physical characteristic parameters of the thin soft soil body; constructing three-dimensional solid models of different tooth-shaped creeper treads;
s102, constructing a discrete unit model of the underwater weak and soft soil body based on a Hertz contact theory and by combining physical characteristic parameters of the underwater weak and soft soil body and a three-dimensional entity model of the creeper tread, and simulating interaction results of the creeper tread with different tooth shapes and the underwater weak and soft soil body in batches based on the discrete unit model of the underwater weak and soft soil body;
s103, performing curve fitting on interaction results of the track shoe with different tooth shapes and the underwater weak soil body obtained through simulation, and establishing a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body;
and S104, solving a kinetic equation to obtain the kinetic response of the underwater crawler equipment walking on the thin soft soil body.
Fourth embodiment
The present embodiments provide a computer-readable storage medium having at least one instruction stored therein, the instruction being loaded and executed by a processor to implement the above-mentioned method. The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. The instructions stored therein may be loaded by a processor in the terminal and perform the steps of:
s101, obtaining physical characteristic parameters of the thin soft soil body; constructing three-dimensional solid models of different tooth-shaped creeper treads;
s102, constructing a discrete unit model of the underwater weak and soft soil body based on a Hertz contact theory and by combining physical characteristic parameters of the underwater weak and soft soil body and a three-dimensional entity model of the creeper tread, and simulating interaction results of the creeper tread with different tooth shapes and the underwater weak and soft soil body in batches based on the discrete unit model of the underwater weak and soft soil body;
s103, performing curve fitting on interaction results of the track shoe with different tooth shapes and the underwater weak soil body obtained through simulation, and establishing a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body;
and S104, solving a kinetic equation to obtain the kinetic response of the underwater crawler equipment walking on the thin soft soil body.
Furthermore, it should be noted that the present invention may be provided as a method, apparatus or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
Finally, it should be noted that while the above describes a preferred embodiment of the invention, it will be appreciated by those skilled in the art that, once the basic inventive concepts have been learned, numerous changes and modifications may be made without departing from the principles of the invention, which shall be deemed to be within the scope of the invention. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Claims (8)
1. A dynamic response calculation method for walking of a thin and soft soil body of underwater crawler equipment is characterized by comprising the following steps of:
acquiring physical characteristic parameters of an underwater weak soil body; constructing three-dimensional solid models of different tooth-shaped creeper treads;
constructing a discrete unit model of the underwater thin and soft soil body by combining physical characteristic parameters of the underwater thin and soft soil body and three-dimensional entity models of different tooth-shaped track shoes based on a Hertz contact theory, and simulating interaction results of the track shoes with different tooth shapes and the underwater thin and soft soil body in batches based on the discrete unit model of the underwater thin and soft soil body;
performing curve fitting on interaction results of the track shoe with different tooth shapes and the underwater weak soil body obtained through simulation, and establishing a semi-empirical general kinetic equation of the track shoe and the underwater weak soil body;
and solving the kinetic equation to obtain the kinetic response of the underwater crawler belt equipment walking on the thin soft soil body.
2. The method for calculating the dynamic response of the underwater crawler belt equipment to the walking of the soft soil body is characterized in that the building of the three-dimensional solid models of the crawler belts with different tooth shapes comprises the following steps:
establishing parameterized three-dimensional solid models of creeper treads with different shapes and sizes by using three-dimensional modeling software SolidWorks; the parameterized three-dimensional solid model comprises a parameterized three-dimensional solid model of a track shoe with a T-shaped grouser shape and a parameterized three-dimensional solid model of a track shoe with a V-shaped grouser shape.
3. The method for calculating the dynamic response of the underwater crawler equipment to the walking of the soft soil body as claimed in claim 1, wherein the step of constructing the discrete unit model of the underwater soft soil body based on the Hertz contact theory by combining the physical characteristic parameters of the underwater soft soil body and three-dimensional solid models of different toothed track shoes comprises the following steps:
based on the Hertz contact theory and the physical characteristic parameters of the underwater weak and soft soil body, writing an API control program to represent the normal and tangential action rules of the track shoe and the underwater weak and soft soil body;
and importing three-dimensional entity models of different tooth-shaped track shoes into discrete unit analysis software EDEM, setting soil particle material characteristic parameters of the underwater weak and soft soil body by combining with a compiled API control program, defining an interaction rule of soil particles, and dividing grids to construct a discrete unit model of the underwater weak and soft soil body.
4. The method for calculating the dynamic response of the walking of the underwater crawler belt equipment with the thin and soft soil body as claimed in claim 3, wherein the step of simulating the interaction results of the crawler belts with different tooth shapes and the underwater thin and soft soil body in batches based on the discrete unit model of the underwater thin and soft soil body comprises the following steps:
based on the discrete unit model of the underwater weak soil body, the batch simulation calculation of the indentation characteristics and the shearing characteristics of the crawler boards with different tooth shapes is carried out, and the cohesive deformation modulus, the friction deformation modulus, the deformation coefficient, the maximum shearing stress, the residual shearing stress, the ratio of the residual shearing stress to the maximum shearing stress and the corresponding shearing displacement when the maximum shearing stress is generated are obtained.
5. The method for calculating the dynamic response of the underwater crawler equipment to the running of the thin and soft soil body according to claim 4, wherein curve fitting is performed on interaction results of the crawler plates with different tooth shapes and the underwater thin and soft soil body obtained through simulation, and a semi-empirical general dynamic equation of the crawler plates and the underwater thin and soft soil body is established, and comprises the following steps:
curve fitting is carried out on interaction results of the track shoes with different tooth shapes and the underwater thin and soft soil body obtained through simulation, and pressure subsidence models of a loose layer and a dense layer of the underwater thin and soft soil body are respectively constructed as follows:
nl＝1/2nd
wherein p isloose-layerTrack shoe ground pressure p representing dense layer of underwater weak and soft soil bodydense-layerShowing the specific grounding pressure of the creeper tread of the loose layer of the underwater weak soil body; k is a radical ofcdExpressing the cohesive deformation modulus, k, of a dense layer of underwater weak soilclRepresenting the cohesive deformation modulus of the unconsolidated layer of the underwater weak soil body; k is a radical ofφdExpressing the modulus of frictional deformation, k, of a dense layer of underwater weak and soft soilφlThe friction deformation modulus of a loose layer of the underwater weak soil body is represented; b represents the track width of the underwater track equipment; z represents the track shoe sag depth; n isdRepresenting the deformation coefficient, n, of the mass of a dense layer of underwater weak and soft masslAnd the deformation coefficient of the soil body of the loose layer of the underwater weak soil body is shown.
6. The method for calculating the dynamic response of the underwater crawler equipment to the running of the thin and soft soil body according to claim 5, wherein curve fitting is performed on the interaction results of the crawler plates with different tooth shapes and the underwater thin and soft soil body obtained through simulation, a semi-empirical general kinetic equation of the crawler plates and the underwater thin and soft soil body is established, and the method further comprises the following steps:
curve fitting is carried out on interaction results of the track plates with different tooth shapes and the underwater thin soft soil body obtained through simulation, and a soil traction model of the track equipment is deduced according to track structure parameters of the track equipment, and the method comprises the following steps:
the stress distribution on the grouser side is obtained according to the passive earth theory as follows:
where σ represents the stress distribution on the grouser side; b represents the track width of the underwater track equipment; h represents the grouser height; p represents the ground pressure of the track shoe;
the structural characteristics of the track shoe are considered, and the normal component of the soil pressure on the side surface of the grouser is deduced as follows:
θ＝arctan(b0/2h)
wherein N represents the normal component of the soil pressure on the grouser side; b0Representing the width of the track shoe; θ represents a grouser shape parameter;
a soil traction model of the underwater crawler equipment is derived as follows:
wherein F represents the soil traction of the underwater crawler equipment; l represents the track contact length of the underwater track equipment; a represents a ground area; c represents the cohesion of the weak soil body; phi meterShowing the internal friction angle of the thin and soft soil body; krRepresenting the ratio of the residual shear stress to the maximum shear stress; kwRepresenting the corresponding shear displacement when the maximum shear stress is generated; i represents the slip rate of the underwater crawler belt equipment walking on the thin soft soil body; w represents the vehicle weight.
7. The method for calculating the dynamic response of the underwater crawler equipment to walk on the thin and soft soil body according to claim 1, wherein the step of solving the dynamic equation to obtain the dynamic response of the underwater crawler equipment to walk on the thin and soft soil body comprises the following steps:
and (3) programming by utilizing Matlab software, solving the kinetic equation, and finally obtaining a three-dimensional schematic diagram of the walking kinetic characteristic of the underwater crawler belt equipment on the thin and soft soil body under the working condition of the underwater thin and soft soil body.
8. A dynamic response computing system for walking of a weak soil body of underwater crawler equipment is characterized by comprising:
the device comprises a weak soil physical characteristic parameter acquisition module, a data processing module and a data processing module, wherein the weak soil physical characteristic parameter acquisition module is used for acquiring physical characteristic parameters of an underwater weak soil;
the crawler plate three-dimensional solid model building module is used for building three-dimensional solid models of different tooth-shaped crawler plates;
the soil discrete unit model construction and batch simulation calculation module is used for constructing a discrete unit model of the underwater weak soil body by combining physical characteristic parameters of the underwater weak soil body and three-dimensional entity models of different tooth-shaped track shoes based on a Hertz contact theory, and simulating interaction results of the track shoes with different tooth shapes and the underwater weak soil body in batches based on the discrete unit model of the underwater weak soil body;
the semi-empirical general kinetic equation establishing module is used for performing curve fitting on interaction results of the creeper tread and the underwater weak soil body with different tooth shapes, which are obtained by the soil discrete unit model establishing and batch simulation calculation module simulation, and establishing a semi-empirical general kinetic equation of the creeper tread and the underwater weak soil body;
and the dynamic response solving module is used for solving the dynamic equation to obtain the dynamic response of the underwater crawler equipment walking on the thin soft soil body.
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