CN112257308B - Kinetic response calculation method and system for walking of weak soil body of underwater crawler equipment - Google Patents
Kinetic response calculation method and system for walking of weak soil body of underwater crawler equipment Download PDFInfo
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Abstract
The invention discloses a dynamic response calculation method and a dynamic response calculation system for walking of a weak soil body of underwater crawler equipment, wherein the method comprises the following steps: acquiring physical characteristic parameters of an underwater soft soil body; constructing three-dimensional solid models of track shoes with different tooth shapes; based on the Hertz contact theory, combining physical characteristic parameters of the underwater soft soil body and a three-dimensional solid model of the track shoe, constructing a discrete unit model of the underwater soft soil body, and obtaining interaction results of the track shoe with different tooth shapes and the underwater soft soil body through batch simulation of the discrete units; curve fitting is carried out on the simulation result, and a semi-empirical general dynamics equation of the track shoe and the underwater soft soil body is established; and solving a dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body. The invention can more accurately describe the mechanical action rule of the crawler belt and the weak soil body and provides a theoretical basis for the walking control of the underwater crawler belt equipment.
Description
Technical Field
The invention relates to the technical field of soil theoretical modeling, in particular to a dynamic response calculation method and a dynamic response calculation system for walking of a weak soil body of underwater crawler equipment.
Background
In recent years, urban inland inundation and mine floods frequently occur, thereby causing serious casualties and economic losses. The emergency rescue is a teaching and training tool obtained after the accident is suffered, and the emergency rescue equipment is a powerful weapon and important guarantee for emergency rescue, and plays an extremely important role. Because the urban waterlogging and river dredging operation environment is complex and the risk factors are more, the ground underwater obstacle-removing operation is carried out cooperatively by means of strong wading, multifunctional and high-mobility equipment with remote control operation capability, and the tracked robot becomes the optimal choice of the underwater emergency rescue vehicle due to the advantages of large traction force, good trafficability, strong climbing capability and the like.
At present, although more researches are carried out on tracked vehicles, the corresponding theoretical researches are less, and especially in complex underwater environments, the research field of the interaction rule of tracked equipment and ultra-weak soil is more prominent. Most of the existing soil models are land soil, and few river bottom soil is researched. Although the deep sea mining machine is used for calculating submarine soil, the working depth of the deep sea mining machine is 5000m, the submarine soil is hard due to the action of pressure and is greatly different from river bottom soil, so that the characteristic of the underwater ultra-weak soil body is characterized by using classical theory, soil resistance calculation errors in the walking process of underwater crawler equipment can be increased, deviation is caused in driving force distribution of the underwater crawler equipment, and the walking of the crawler equipment in a complex underwater environment is influenced.
Disclosure of Invention
The invention provides a dynamic response calculation method and a dynamic response calculation system for walking of a weak soil body of underwater crawler equipment, which are used for solving the technical problems that the conventional simulation calculation method adopts a classical theory to represent the characteristic of the underwater ultra-weak soil body, and the calculation error of soil resistance in the walking process of the underwater crawler equipment is increased, so that the driving force distribution of the underwater crawler equipment is deviated, and the walking of the crawler equipment in a complex underwater environment is influenced.
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 weak soil body of an underwater crawler device, which comprises the following steps:
acquiring physical characteristic parameters of an underwater soft soil body; constructing three-dimensional solid models of track shoes with different tooth shapes;
based on the Hertz contact theory, combining physical characteristic parameters of the underwater soft soil body and three-dimensional solid models of the track shoes with different tooth shapes, constructing a discrete unit model of the underwater soft soil body, and based on the discrete unit model of the underwater soft soil body, simulating interaction results of the track shoes with different tooth shapes and the underwater soft soil body in batches;
curve fitting is carried out on interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established;
and solving the dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body.
Further, the constructing a three-dimensional solid model of the track shoe with different tooth shapes comprises the following steps:
utilizing three-dimensional modeling software SolidWorks to establish parameterized three-dimensional entity models of track shoes with different shapes and sizes; the parameterized three-dimensional solid model comprises a parameterized three-dimensional solid model of the track shoe with the T-shaped track tooth appearance and a parameterized three-dimensional solid model of the track shoe with the V-shaped track tooth appearance.
Further, based on the hertz contact theory, combining physical characteristic parameters of the underwater soft soil body and a three-dimensional entity model of the track shoes with different tooth shapes, constructing a discrete unit model of the underwater soft soil body, comprising:
based on the Hertz contact theory and physical characteristic parameters of the underwater soft soil body, writing an API control program to represent the normal and tangential action rules of the track shoe and the underwater soft soil body;
the three-dimensional solid models of the track shoes with different tooth shapes are led into the discrete unit analysis software EDEM, the characteristic parameters of soil particle materials of the underwater soft soil body are set in combination with the written API control program, the interaction rule of the soil particles is defined, and grids are divided to construct the discrete unit model of the underwater soft soil body.
Further, the discrete unit model based on the underwater soft soil mass simulates the interaction result of the track shoes with different tooth shapes and the underwater soft soil mass in batches, and comprises the following steps:
based on a discrete unit model of the underwater soft soil body, carrying out simulation calculation on compaction characteristics and shearing characteristics of the track shoes with different tooth shapes in batches to obtain cohesive deformation modulus, friction deformation modulus, deformation coefficient, maximum shearing stress, residual shearing stress, ratio of the residual shearing stress to the maximum shearing stress and corresponding shearing displacement when the maximum shearing stress is generated.
Further, curve fitting is carried out on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established, which comprises the following steps:
curve fitting is carried out on interaction results of the simulated track shoes with different tooth shapes and the underwater weak soil body, and pressure subsidence models of a loose layer and a dense layer of the underwater weak soil body are respectively constructed as follows:
n l ＝1/2n d
wherein p is loose-layer Track shoe ground specific pressure, p, representing dense layer of underwater soft soil body dense-layer The track shoe ground specific pressure of a loose layer of the underwater soft soil body is represented; k (k) cd Represents cohesive deformation modulus, k of dense layer of underwater soft soil body cl Representing cohesive deformation modulus of a loose layer of the underwater soft soil body; k (k) φd Represents the friction deformation modulus, k of a dense layer of an underwater soft soil body φl Representing the friction deformation modulus of a loose layer of the underwater soft soil body; b represents the track width of the underwater track assembly; z represents the track shoe sag depth; n is n d Deformation coefficient of soil body representing dense layer of underwater soft soil body, n l And the deformation coefficient of the soil body of the loose layer of the underwater soft soil body is represented.
Further, performing curve fitting on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and establishing a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body further comprises:
curve fitting is carried out on the interaction results of the simulated track shoes with different tooth shapes and the underwater weak soil body, and a soil traction model of the track equipment is deduced according to the track structure parameters of the track equipment, wherein the soil traction model is as follows:
and obtaining stress distribution on the side surface of the crawler gear according to a passive soil theory, wherein the stress distribution is as follows:
wherein σ represents the stress distribution on the tooth flank; b represents the track width of the underwater track assembly; h represents the height of the track; p represents the ground specific pressure of the track shoe;
the normal component of the soil pressure on the side face of the track shoe is deduced by considering the structural characteristics of the track shoe, as follows:
θ＝arctan(b 0 /2h)
wherein N represents a normal component of the soil pressure on the tooth flank; b 0 Representing the width of the track shoe; θ represents a track shape parameter;
and deducing a soil traction model of the underwater crawler equipment, wherein the soil traction model is as follows:
wherein F represents the soil traction of the underwater crawler equipment; l represents a track ground length of the underwater track equipment; a represents a grounding area; c represents cohesion of the soft soil body; phi represents the internal friction angle of the soft soil body; k (K) r Representing the ratio of the residual shear stress to the maximum shear stress; k (K) w Representing the corresponding shear displacement when the maximum shear stress is generated; i represents the slip rate of the underwater crawler equipment walking on a soft soil body; w represents the vehicle weight.
Further, the solving the dynamics equation to obtain a dynamics response of the underwater crawler equipment walking on the soft soil body includes:
and programming by utilizing Matlab software, solving the dynamics equation, and finally solving a three-dimensional schematic diagram of the dynamics characteristics of the walking of the underwater crawler equipment weak soil body under the working condition of the underwater weak soil body.
On the other hand, the invention also provides a dynamic response calculation system for walking of the underwater crawler equipment weak soil body, which comprises:
the weak soil physical characteristic parameter acquisition module is used for acquiring physical characteristic parameters of the underwater weak soil;
the track shoe three-dimensional solid model construction module is used for constructing three-dimensional solid models of track shoes with different tooth shapes;
the soil discrete unit model construction and batch simulation calculation module is used for constructing a discrete unit model of the underwater soft soil body based on the Hertz contact theory by combining physical characteristic parameters of the underwater soft soil body and the three-dimensional entity model of the track shoes with different tooth shapes, and simulating interaction results of the track shoes with different tooth shapes and the underwater soft soil body in batch based on the discrete unit model of the underwater soft soil body;
the semi-empirical general dynamics equation building module is used for performing curve fitting on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, which are obtained by the soil discrete unit model building and batch simulation calculation module simulation, so as to build a semi-empirical general dynamics equation of the track shoes 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 soft soil body.
In yet another aspect, the present invention also provides an electronic device including a processor and a memory; wherein the memory stores 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 provided by the invention, the root mean square error of the pressure-subsidence model of the track shoes with different track tooth shapes is calculated to be 0.5, and the root mean square error of the pressure-subsidence model of the track shoes calculated by using a classical method is calculated to be 2.6, so that the method provided by the invention has great advantages on 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 belt plate and the crawler belt equipment driving wheel and the relationship between the crawler tooth profile parameter and the soil traction force, the soil traction force model of the underwater crawler belt equipment is refined, so that 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 of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a workflow diagram of a dynamic response calculation method for walking of a weak soil body of an underwater crawler equipment provided by an embodiment of the 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; wherein, (a) is a three-dimensional entity model schematic diagram of the T-shaped track shoe, and (b) is a three-dimensional entity model schematic diagram of the V-shaped track shoe;
FIG. 3 is a schematic cross-sectional view of a track shoe according to an embodiment of the present invention; wherein, (a) is a schematic cross-section view of the T-shaped track shoe, and (b) is a schematic cross-section view of the V-shaped track shoe;
fig. 4 is a schematic diagram of simulation calculation of soil shear characteristics in EDEM according to an embodiment of the present invention;
FIG. 5 is a graph of fit of simulated data of pressure-subsidence of a weak soil body provided by an embodiment of the present invention;
FIG. 6 is a graph showing a model comparison of a loose region of a weak soil body according to an embodiment of the present invention;
FIG. 7 is a graph of shear stress-displacement simulation data fitting for a weak 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 equipment walking on an ultra-weak soil body according to the embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
First embodiment
The embodiment provides a dynamic response calculation method for walking of a weak soil body of underwater crawler equipment, and in order to reduce errors generated by calculation of the super weak soil body by a classical model, the method of the embodiment provides a piecewise function semi-empirical general model based on the layering phenomenon of the underwater super weak soil, and derives a soil traction model of a crawler according to crawler structural parameters of the underwater crawler equipment so as to improve calculation accuracy. The dynamic response simulation calculation method of the underwater crawler equipment under the soft 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 a weak soil body; constructing three-dimensional solid models of track shoes with different tooth shapes;
specifically, in this embodiment, the implementation procedure of the above steps is as follows:
obtaining physical characteristic parameters of a soft soil body: and collecting an underwater weak soil body sample to be simulated, and carrying out physical characteristic test on the collected sample to obtain a physical characteristic curve of the sample.
Constructing three-dimensional solid models of track shoes with different tooth shapes: utilizing three-dimensional modeling software SolidWorks to establish parameterized three-dimensional entity models of track shoes with different shapes and sizes; the parameterized three-dimensional solid model constructed in this embodiment includes a three-dimensional solid model of a track shoe with a T-shaped tooth profile as shown in fig. 2 (a) and a three-dimensional solid model of a track shoe with a V-shaped tooth profile as shown in fig. 2 (b). The cross section of the T-track shoe is shown in fig. 3 (a), and the cross section of the V-track shoe is shown in fig. 3 (b).
S102, based on the Hertz contact theory, combining physical characteristic parameters of the underwater soft soil body and a three-dimensional solid model of the track shoe, constructing a discrete unit model of the underwater soft soil body, and based on the discrete unit model of the underwater soft soil body, simulating interaction results of the track shoe with different tooth shapes and the underwater soft soil body in batches;
specifically, in this embodiment, the implementation procedure of the above steps is as follows:
based on the Hertz contact theory and physical characteristic parameters of the underwater soft soil body, programming an API control program of the soil body granule action rule so as to represent the normal and tangential action rules of the track shoe and the underwater soft soil body;
the three-dimensional entity models of the track shoes with different tooth shapes constructed in the S101 are imported into a discrete unit analysis software EDEM, in a preprocessing module of the EDEM, according to the actual running working condition of underwater track equipment, parameter setting of physical characteristics of soil is completed in combination with a written API control program, characteristic parameters of soil particles are set, interaction rules of soil particles are defined, and grids are divided to construct a discrete unit model of underwater soft soil; the soil body particle modeling area and the track shoe model need to ensure a certain proportional relation so as to prevent wall effect caused by too small distance between the track shoe structure and the soil simulation edge.
Based on the constructed discrete unit model of the underwater soft soil body, carrying out simulation calculation on the collapse characteristic and the shearing characteristic of the track shoes with different tooth shapes in batches 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 parameter accurate value of the shearing displacement corresponding to the generation of the maximum shearing stress of the underwater soft soil body. The simulation calculation result of the soil shear characteristics in EDEM is shown in fig. 4.
S103, curve fitting is carried out on interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established;
specifically, in this embodiment, the implementation procedure of the above steps is as follows:
first, it should be noted that the above-mentioned semi-empirical general kinetic equation is divided into two parts: pressure-subsidence, shear stress-displacement; the significance of the pressure-subsidence model is: the subsidence of the soil is deduced according to the pressure, and the resistance of the soil when the tracked vehicle walks is deduced according to the subsidence. The meaning of shear stress-displacement is: the traction force of the soil is deduced according to the shear stress-displacement, namely, the traction force provided by the soil to the vehicle when the tracked vehicle walks.
Piecewise function semi-empirical general model based on underwater weak soil layering phenomenon: according to the pressure-subsidence characteristics of the thin soft soil body on the surface layer of the river, a sectional pressure-subsidence model is established and is divided into a loose layer model and a tight layer model, parameters are independently selected for calculation respectively, and a calculation result is more accurate compared with a classical model, so that the soil resistance of a vehicle during walking can be more accurately calculated, and the method comprises the following steps:
based on the simulation result of S102, the classical pressure-subsidence formula of the existing common soil body is referred to by combining the pressure-subsidence data relation of the soil in the fitting loose state and the dense state as shown in FIG. 5, a sectional step function is provided, and the pressure subsidence models of the loose layer and the dense layer of the underwater soft soil body are respectively constructed, so that the soil resistance in the walking process of the underwater crawler equipment is calculated more accurately; the contrast curve of the weak soil body loose region model is shown in fig. 6, and the expression of the pressure subsidence model is as follows:
n l ＝1/2n d
wherein p is loose-layer Track shoe ground specific pressure, p, representing dense layer of underwater soft soil body dense-layer The track shoe ground specific pressure of a loose layer of the underwater soft soil body is represented; k (k) cd Represents cohesive deformation modulus, k of dense layer of underwater soft soil body cl Representing cohesive deformation modulus of a loose layer of the underwater soft soil body; k (k) φd Represents the friction deformation modulus, k of a dense layer of an underwater soft soil body φl Indicating friction of loose layer of underwater soft soil bodyWiping the deformation modulus; b represents the track width of the underwater track assembly; z represents the track shoe sag depth; n is n d Deformation coefficient of soil body representing dense layer of underwater soft soil body, n l And the deformation coefficient of the soil body of the loose layer of the underwater soft soil body is represented.
Soil traction model of crawler equipment: according to the shearing characteristics of the thin soft soil body on the surface layer of the river, a traction force model of the soil is deduced, and the relation between the traction force of the soil and the shape and the driving wheel of the crawler is established, so that boundary conditions can be provided for the walking control of the crawler equipment, and the method comprises the following steps:
based on the simulation result of S102, establishing a pressure-subsidence relation of a soft soil body as shown in FIG. 5 and a shearing stress-displacement relation as shown in FIG. 7, and deducing a soil traction model of the crawler according to crawler structural parameters of the underwater crawler equipment; the deduction process of the soil traction model of the crawler belt is as follows:
and obtaining stress distribution on the side surface of the crawler gear according to a passive soil theory, wherein the stress distribution is as follows:
wherein σ represents the stress distribution on the tooth flank; b represents the track width of the underwater track assembly; h represents the height of the track; p represents the ground specific pressure of the track shoe;
considering the structural characteristics of the track shoe, deducing the normal component of the soil pressure on the side surface of the track tooth, as follows:
θ＝arctan(b 0 /2h)
wherein N represents a normal component of the soil pressure on the tooth flank; b 0 The width of the track shoe is determined by the pitch of the driving wheel; θ represents a track shape parameter, and when θ=0, the V-shaped track may be equivalently a T-shaped track, as shown in fig. 3;
and then a soil traction model of the underwater crawler equipment can be deduced according to classical theory, as follows:
wherein F represents the soil traction of the underwater crawler equipment; l represents a track ground length of the underwater track equipment; a represents a grounding area; c represents cohesion of the soft soil body; phi represents the internal friction angle of the soft soil body; k (K) r Representing the ratio of the residual shear stress to the maximum shear stress; k (K) w Representing the corresponding shear displacement when the maximum shear stress is generated; i represents the slip rate of the underwater crawler equipment walking on a soft soil body; w represents the vehicle weight.
S104, solving a dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body.
Specifically, in this embodiment, the implementation procedure of the above steps is as follows:
and (3) programming by utilizing Matlab, solving the dynamics equation, and finally obtaining a three-dimensional schematic diagram of the dynamics characteristics of the walking of the underwater crawler equipment weak soil body under the underwater weak soil body working condition shown in figure 8.
In summary, in order to accurately solve the soil resistance caused by the underwater soft soil body to the walking of the crawler equipment, the embodiment provides a dynamic response calculation method for the walking of the underwater crawler equipment soft soil body, and a discrete unit model of the underwater soft soil body is built by compiling a rule model of action among soil particles. Through mass simulation calculation of soil particle discrete units, interaction mechanisms of the underwater soft soil body and the crawler equipment are analyzed, a piecewise function semi-empirical general model based on layering phenomenon of the underwater soft soil body is provided, and a soil traction model of the crawler is deduced according to crawler structural parameters of the underwater crawler equipment, so that errors caused by mismatching of characteristics of the underwater soft soil body and a classical soil model are reduced, and calculation accuracy is improved.
The discrete unit model of the underwater ultra-soft soil body established by the dynamic response calculation method for the walking of the underwater track equipment weak soil body can truly reflect the physical characteristic rule of the underwater ultra-soft soil, and the semi-empirical general dynamic equation of the track and the weak soil established by the method can describe the mechanical action rule of the track and the weak soil more accurately, so that an accurate and reliable theoretical basis is provided for accurate calculation of soil resistance caused by the walking of the underwater ultra-soft soil body to the track equipment. In addition, the embodiment also provides a soil traction semi-empirical model of the crawler equipment based on the structural dimension relation of the crawler and the driving wheel, the model can establish the relation between the driving wheel of the crawler equipment and the soil traction, and meanwhile, the influence of the profile parameters of the crawler teeth on the soil traction can be described, so that a dynamic basis is provided for the walking control of the underwater crawler equipment.
Second embodiment
The embodiment provides a kinetic response calculation system for walking of a weak soil body of underwater crawler equipment, which comprises the following modules:
the weak soil physical characteristic parameter acquisition module is used for acquiring physical characteristic parameters of the underwater weak soil;
the track shoe three-dimensional solid model construction module is used for constructing three-dimensional solid models of track shoes with different tooth shapes;
the soil discrete unit model construction and batch simulation calculation module is used for constructing a discrete unit model of the underwater soft soil body based on the Hertz contact theory by combining physical characteristic parameters of the underwater soft soil body and the three-dimensional entity model of the track shoes with different tooth shapes, and simulating interaction results of the track shoes with different tooth shapes and the underwater soft soil body in batch based on the discrete unit model of the underwater soft soil body;
the semi-empirical general dynamics equation building module is used for performing curve fitting on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, which are obtained by the soil discrete unit model building and batch simulation calculation module simulation, so as to build a semi-empirical general dynamics equation of the track shoes 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 soft soil body.
The dynamic response calculation system for the walking of the underwater crawler equipment weak soil body of the embodiment corresponds to the dynamic response calculation method for the walking of the underwater crawler equipment weak soil body of the first embodiment; the functions realized by the functional modules in the dynamic response calculation system for walking of the underwater crawler equipment weak soil body are in one-to-one correspondence with the flow steps in the dynamic response calculation method for walking of the underwater crawler equipment weak soil body in the first embodiment; therefore, the description is omitted here.
Third embodiment
The embodiment provides an electronic device, which comprises a processor and a memory; wherein the memory stores at least one instruction that is loaded and executed by the processor to implement the method of the first embodiment.
The electronic device may vary considerably in configuration or performance and may include one or more processors (central processing units, CPU) and one or more memories, wherein the memories store at least one instruction that is loaded by the processors and performs the following steps:
s101, obtaining physical characteristic parameters of a weak soil body; constructing three-dimensional solid models of track shoes with different tooth shapes;
s102, based on the Hertz contact theory, combining physical characteristic parameters of the underwater soft soil body and a three-dimensional solid model of the track shoe, constructing a discrete unit model of the underwater soft soil body, and based on the discrete unit model of the underwater soft soil body, simulating interaction results of the track shoe with different tooth shapes and the underwater soft soil body in batches;
s103, curve fitting is carried out on interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established;
s104, solving a dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body.
Fourth embodiment
The present embodiment provides a computer-readable storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the above-described method. The computer readable storage medium may be, among other things, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. The instructions stored therein may be loaded by a processor in the terminal and perform the steps of:
s101, obtaining physical characteristic parameters of a weak soil body; constructing three-dimensional solid models of track shoes with different tooth shapes;
s102, based on the Hertz contact theory, combining physical characteristic parameters of the underwater soft soil body and a three-dimensional solid model of the track shoe, constructing a discrete unit model of the underwater soft soil body, and based on the discrete unit model of the underwater soft soil body, simulating interaction results of the track shoe with different tooth shapes and the underwater soft soil body in batches;
s103, curve fitting is carried out on interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established;
s104, solving a dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body.
Furthermore, it should be noted that the present invention can be provided as a method, an apparatus, or a 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 invention may take the form of a computer program product on one or more computer-usable storage media having computer-usable program code embodied therein.
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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus 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 one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
It is finally pointed out that the above description of the preferred embodiments of the invention, it being understood that although preferred embodiments of the invention have been described, it will be obvious to those skilled in the art that, once the basic inventive concepts of the invention are known, several modifications and adaptations can be made without departing from the principles of the invention, and these modifications and adaptations are intended to be within the scope of the invention. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Claims (2)
1. The dynamic response calculation method for the walking of the underwater crawler equipment weak soil body is characterized by comprising the following steps of:
acquiring physical characteristic parameters of an underwater soft soil body; constructing three-dimensional solid models of track shoes with different tooth shapes;
based on the Hertz contact theory, combining physical characteristic parameters of the underwater soft soil body and three-dimensional solid models of the track shoes with different tooth shapes, constructing a discrete unit model of the underwater soft soil body, and based on the discrete unit model of the underwater soft soil body, simulating interaction results of the track shoes with different tooth shapes and the underwater soft soil body in batches;
curve fitting is carried out on interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established;
solving the dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body;
the construction of the three-dimensional solid model of the track shoes with different tooth shapes comprises the following steps:
utilizing three-dimensional modeling software SolidWorks to establish parameterized three-dimensional entity models of track shoes with different shapes and sizes; the parameterized three-dimensional solid model comprises a parameterized three-dimensional solid model of a track shoe with a T-shaped track tooth profile and a parameterized three-dimensional solid model of a track shoe with a V-shaped track tooth profile;
based on the Hertz contact theory, the discrete unit model of the underwater soft soil body is constructed by combining physical characteristic parameters of the underwater soft soil body and three-dimensional entity models of the track shoes with different tooth shapes, and the discrete unit model comprises the following components:
based on the Hertz contact theory and physical characteristic parameters of the underwater soft soil body, writing an API control program to represent the normal and tangential action rules of the track shoe and the underwater soft soil body;
the three-dimensional solid models of the track shoes with different tooth shapes are led into discrete unit analysis software EDEM, and combined with written API control programs, the characteristic parameters of soil particle materials of the underwater soft soil body are set, the interaction rule of soil particles is defined, and grids are divided to construct the discrete unit models of the underwater soft soil body;
the discrete unit model based on the underwater soft soil mass simulates the interaction result of the track shoes with different tooth shapes and the underwater soft soil mass in batches, and comprises the following steps:
based on a discrete unit model of the underwater soft soil body, carrying out simulation calculation on compaction characteristics and shearing characteristics of the track shoes with different tooth shapes in batches to obtain cohesive deformation modulus, friction deformation modulus, deformation coefficient, maximum shearing stress, residual shearing stress, ratio of the residual shearing stress to the maximum shearing stress and corresponding shearing displacement when the maximum shearing stress is generated;
curve fitting is carried out on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established, which comprises the following steps:
curve fitting is carried out on interaction results of the simulated track shoes with different tooth shapes and the underwater weak soil body, and pressure subsidence models of a loose layer and a dense layer of the underwater weak soil body are respectively constructed as follows:
n l ＝1/2n d
wherein p is loose-layer Track shoe ground specific pressure, p, representing dense layer of underwater soft soil body dense-layer The track shoe ground specific pressure of a loose layer of the underwater soft soil body is represented; k (k) cd Represents cohesive deformation modulus, k of dense layer of underwater soft soil body cl Representing cohesive deformation modulus of a loose layer of the underwater soft soil body; k (k) φd Represents the friction deformation modulus, k of a dense layer of an underwater soft soil body φl Representing the friction deformation modulus of a loose layer of the underwater soft soil body; b represents the track width of the underwater track assembly; z represents the track shoe sag depth; n is n d Deformation coefficient of soil body representing dense layer of underwater soft soil body, n l The deformation coefficient of the soil body of the loose layer of the underwater soft soil body is represented;
curve fitting is carried out on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established, and the method further comprises the following steps:
curve fitting is carried out on the interaction results of the simulated track shoes with different tooth shapes and the underwater weak soil body, and a soil traction model of the track equipment is deduced according to the track structure parameters of the track equipment, wherein the soil traction model is as follows:
and obtaining stress distribution on the side surface of the crawler gear according to a passive soil theory, wherein the stress distribution is as follows:
wherein σ represents the stress distribution on the tooth flank; b represents the track width of the underwater track assembly; h represents the height of the track; p represents the ground specific pressure of the track shoe;
the normal component of the soil pressure on the side face of the track shoe is deduced by considering the structural characteristics of the track shoe, as follows:
θ＝arctan(b 0 /2h)
wherein N represents a normal component of the soil pressure on the tooth flank; b 0 Representing the width of the track shoe; θ represents a track shape parameter;
and deducing a soil traction model of the underwater crawler equipment, wherein the soil traction model is as follows:
wherein F represents the soil traction of the underwater crawler equipment; l represents a track ground length of the underwater track equipment; a represents a grounding area; c represents cohesion of the soft soil body; phi represents the internal friction angle of the soft soil body; k (K) r Representing the ratio of the residual shear stress to the maximum shear stress; k (K) w Representing the corresponding shear displacement when the maximum shear stress is generated; i represents the slip rate of the underwater crawler equipment walking on a soft soil body; w represents the vehicle weight;
solving the dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body, wherein the method comprises the following steps:
and programming by utilizing Matlab software, solving the dynamics equation, and finally solving a three-dimensional schematic diagram of the dynamics characteristics of the walking of the underwater crawler equipment weak soil body under the working condition of the underwater weak soil body.
2. The utility model provides a kinetic response computing system of weak soil body walking is equipped to track under water, its characterized in that, the kinetic response computing system of weak soil body walking is equipped to track under water includes:
the weak soil physical characteristic parameter acquisition module is used for acquiring physical characteristic parameters of the underwater weak soil;
the track shoe three-dimensional solid model construction module is used for constructing three-dimensional solid models of track shoes with different tooth shapes;
the soil discrete unit model construction and batch simulation calculation module is used for constructing a discrete unit model of the underwater soft soil body based on the Hertz contact theory by combining physical characteristic parameters of the underwater soft soil body and the three-dimensional entity model of the track shoes with different tooth shapes, and simulating interaction results of the track shoes with different tooth shapes and the underwater soft soil body in batch based on the discrete unit model of the underwater soft soil body;
the semi-empirical general dynamics equation building module is used for performing curve fitting on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, which are obtained by the soil discrete unit model building and batch simulation calculation module simulation, so as to build a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body;
the dynamic response solving module is used for solving the dynamic equation and obtaining the dynamic response of the underwater crawler equipment walking on the soft soil body;
the construction of the three-dimensional solid model of the track shoes with different tooth shapes comprises the following steps:
utilizing three-dimensional modeling software SolidWorks to establish parameterized three-dimensional entity models of track shoes with different shapes and sizes; the parameterized three-dimensional solid model comprises a parameterized three-dimensional solid model of a track shoe with a T-shaped track tooth profile and a parameterized three-dimensional solid model of a track shoe with a V-shaped track tooth profile;
based on the Hertz contact theory, the discrete unit model of the underwater soft soil body is constructed by combining physical characteristic parameters of the underwater soft soil body and three-dimensional entity models of the track shoes with different tooth shapes, and the discrete unit model comprises the following components:
based on the Hertz contact theory and physical characteristic parameters of the underwater soft soil body, writing an API control program to represent the normal and tangential action rules of the track shoe and the underwater soft soil body;
the three-dimensional solid models of the track shoes with different tooth shapes are led into discrete unit analysis software EDEM, and combined with written API control programs, the characteristic parameters of soil particle materials of the underwater soft soil body are set, the interaction rule of soil particles is defined, and grids are divided to construct the discrete unit models of the underwater soft soil body;
the discrete unit model based on the underwater soft soil mass simulates the interaction result of the track shoes with different tooth shapes and the underwater soft soil mass in batches, and comprises the following steps:
based on a discrete unit model of the underwater soft soil body, carrying out simulation calculation on compaction characteristics and shearing characteristics of the track shoes with different tooth shapes in batches to obtain cohesive deformation modulus, friction deformation modulus, deformation coefficient, maximum shearing stress, residual shearing stress, ratio of the residual shearing stress to the maximum shearing stress and corresponding shearing displacement when the maximum shearing stress is generated;
curve fitting is carried out on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established, which comprises the following steps:
curve fitting is carried out on interaction results of the simulated track shoes with different tooth shapes and the underwater weak soil body, and pressure subsidence models of a loose layer and a dense layer of the underwater weak soil body are respectively constructed as follows:
n l ＝1/2n d
wherein p is loose-layer Track shoe ground specific pressure, p, representing dense layer of underwater soft soil body dense-layer The track shoe ground specific pressure of a loose layer of the underwater soft soil body is represented; k (k) cd Represents cohesive deformation modulus, k of dense layer of underwater soft soil body cl Representing cohesive deformation modulus of a loose layer of the underwater soft soil body; k (k) φd Representing the friction deformation modulus of dense layers of underwater soft soil bodies，k φl Representing the friction deformation modulus of a loose layer of the underwater soft soil body; b represents the track width of the underwater track assembly; z represents the track shoe sag depth; n is n d Deformation coefficient of soil body representing dense layer of underwater soft soil body, n l The deformation coefficient of the soil body of the loose layer of the underwater soft soil body is represented;
curve fitting is carried out on the interaction results of the track shoes with different tooth shapes and the underwater weak soil body, and a semi-empirical general dynamics equation of the track shoes and the underwater weak soil body is established, and the method further comprises the following steps:
curve fitting is carried out on the interaction results of the simulated track shoes with different tooth shapes and the underwater weak soil body, and a soil traction model of the track equipment is deduced according to the track structure parameters of the track equipment, wherein the soil traction model is as follows:
and obtaining stress distribution on the side surface of the crawler gear according to a passive soil theory, wherein the stress distribution is as follows:
wherein σ represents the stress distribution on the tooth flank; b represents the track width of the underwater track assembly; h represents the height of the track; p represents the ground specific pressure of the track shoe;
the normal component of the soil pressure on the side face of the track shoe is deduced by considering the structural characteristics of the track shoe, as follows:
θ＝arctan(b 0 /2h)
wherein N represents a normal component of the soil pressure on the tooth flank; b 0 Representing the width of the track shoe; θ represents a track shape parameter;
and deducing a soil traction model of the underwater crawler equipment, wherein the soil traction model is as follows:
wherein F represents the soil traction of the underwater crawler equipment; l represents a track ground length of the underwater track equipment; a represents a grounding area; c represents cohesion of the soft soil body; phi represents the internal friction angle of the soft soil body; k (K) r Representing the ratio of the residual shear stress to the maximum shear stress; k (K) w Representing the corresponding shear displacement when the maximum shear stress is generated; i represents the slip rate of the underwater crawler equipment walking on a soft soil body; w represents the vehicle weight;
solving the dynamics equation to obtain the dynamics response of the underwater crawler equipment walking on the soft soil body, wherein the method comprises the following steps: and programming by utilizing Matlab software, solving the dynamics equation, and finally solving a three-dimensional schematic diagram of the dynamics characteristics of the walking of the underwater crawler equipment weak soil body under the working condition of the underwater weak soil body.
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