CN115688383A - Unmanned underwater vehicle hydrodynamic coefficient calculation method - Google Patents

Unmanned underwater vehicle hydrodynamic coefficient calculation method Download PDF

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CN115688383A
CN115688383A CN202211226040.9A CN202211226040A CN115688383A CN 115688383 A CN115688383 A CN 115688383A CN 202211226040 A CN202211226040 A CN 202211226040A CN 115688383 A CN115688383 A CN 115688383A
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coefficient
underwater vehicle
unmanned underwater
hydrodynamic
unmanned
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罗思琦
关夏威
王心亮
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719th Research Institute of CSIC
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Abstract

The invention discloses a calculation method for a hydrodynamic coefficient of an unmanned underwater vehicle, and belongs to the technical field of underwater equipment of ships and ocean engineering. The method is realized by the following steps: the method comprises the following steps: establishing an unmanned underwater vehicle kinematics model; step two: establishing an idnlgrey object; step three: estimating the hydrodynamic force coefficient of the unmanned underwater vehicle as an initial value in the subsequent step five; step four: processing and importing navigation test data of the unmanned underwater vehicle; step five: substituting the unmanned underwater vehicle test data and the initial value in the step four into the idnlgrey object in the step two to carry out ash box model identification; step six: and if the calculation result of the hydrodynamic coefficient obtained in the step five meets the precision requirement, taking the calculation result as a final calculation result, otherwise, taking the calculation result of the step five as a next initial value, and repeating the steps from four to six. According to the invention, the recorded data in the navigation test of the unmanned underwater vehicle is utilized, and the ship model test and the hydrodynamic force calculation software simulation are not needed, so that the test cost and the resolving cost are saved.

Description

Unmanned underwater vehicle hydrodynamic coefficient calculation method
Technical Field
The invention relates to the technical field of underwater equipment of ships and ocean engineering, in particular to a calculation method for a hydrodynamic coefficient of an unmanned underwater vehicle.
Background
The maneuverability is an important component of the comprehensive performance of the unmanned underwater vehicle, and the good maneuverability is an important guarantee for the safe navigation and the full play of the comprehensive technical level of the unmanned underwater vehicle. The hydrodynamic coefficient is a key coefficient of the unmanned underwater vehicle maneuverability equation, and the maneuverability is simulated and forecasted based on the unmanned underwater vehicle maneuverability equation, wherein the calculation of the hydrodynamic coefficient must have considerable accuracy.
The calculation of the hydrodynamic force coefficient is the basis for researching the maneuverability of the underwater unmanned underwater vehicle, and at present, three main methods for calculating the hydrodynamic force coefficient of the underwater unmanned underwater vehicle are provided: the method comprises the steps of semi-theoretical semi-empirical estimation, restrained ship model test and computational fluid mechanics simulation calculation. The constrained ship model test is the most effective method for determining the hydrodynamic coefficient, but usually needs to consume a large amount of manpower and material resources, and has a long test period; the semi-theoretical and semi-empirical estimation method is suitable for the initial design stage, the calculation result cannot meet the engineering precision requirement at present, and most of the calculation results are combined with other methods in practical research; the calculation method for calculating the fluid mechanics simulation needs comparison and verification of sailing test data, so that the method is mainly used for Suboff type submarines, the calculation period of the hydrodynamic coefficient of the complex model is long, and certain requirements are also met for the calculation force of a computer.
The MATLAB System Identification (System Identification) continuously corrects model parameters (least square criterion) by using errors between model output and actual output through a certain algorithm, and finally obtains an optimal model result. For a system kinematics model with a known mathematical structure, a MATLAB gray box model can be used for parameter identification, the range of feasible solutions can be locked by only giving an initial value, and the required hydrodynamic coefficient value can be obtained through multiple iterative calculations.
Disclosure of Invention
In view of the above, the invention provides a method for calculating a hydrodynamic coefficient of an unmanned underwater vehicle, which is characterized in that the hydrodynamic coefficient of the underwater unmanned underwater vehicle is obtained by using MATLAB software identification on the basis of adopting an approximate estimation method.
A method for calculating the hydrodynamic coefficient of an unmanned underwater vehicle comprises the following steps:
the method comprises the following steps: establishing a kinematics model of the unmanned underwater vehicle;
step two: establishing an idnlgrey object;
step three: estimating the hydrodynamic force coefficient of the unmanned underwater vehicle as an initial value in the subsequent step five;
step four: processing and importing navigation test data of the unmanned underwater vehicle;
step five: substituting the unmanned underwater vehicle test data and the initial value in the step four into the idnlgrey object in the step two to carry out ash box model identification;
step six: and if the hydrodynamic coefficient calculation result obtained in the fifth step meets the precision requirement, taking the result as a final calculation result, otherwise, taking the calculation result of the fifth step as a next initial value, and repeating the fourth to sixth steps.
Further, the unmanned underwater vehicle horizontal plane maneuvering motion expression in the first step is as follows:
Figure BDA0003879781090000021
the expression of the vertical plane maneuvering motion of the unmanned underwater vehicle is as follows:
Figure BDA0003879781090000022
wherein u, v, w, P, q and r are the speed and angular speed of the underwater vehicle in the directions of x, y and z; delta is a rudder angle coefficient, and theta is an Euler angle;
Figure BDA0003879781090000023
X vv 、X rr 、X vr 、
Figure BDA0003879781090000024
Y r 、Y v|v| 、Y r|r| 、Y v|r| 、
Figure BDA0003879781090000025
N v|v| 、N |v|r 、N r|r| 、
Figure BDA0003879781090000029
Z w 、Z w|w| 、Z w|q| 、
Figure BDA0003879781090000027
M w 、M |w| 、M w|q| 、M w|w| the value of the partial derivative of the hydrodynamic component to the motion parameter of the underwater vehicle at the expansion point is referred to as a hydrodynamic coefficient;
and establishing an unmanned underwater vehicle kinematic model by referring to the typical space manipulation motion expression of the unmanned underwater vehicle according to the motion state of the unmanned underwater vehicle and the calculation requirement of the hydrodynamic coefficient.
Further, the process of establishing the idnlgrey object in the second step is as follows: defining a state quantity X, a control quantity u and an output Y = X;
the unmanned underwater vehicle kinematic model is returned to the output and state derivatives in the form of idnlgrey objects as a function of time, input, state and parameter values.
Further, preliminarily determining a hydrodynamic coefficient by adopting an approximate formula estimation method in the third step, wherein the hydrodynamic coefficient comprises an acceleration coefficient, a velocity coefficient, an angular velocity coefficient and a rudder angle coefficient, and preliminarily estimating the hydrodynamic coefficient of the unmanned underwater vehicle according to an empirical formula and an inquiry map;
1) Acceleration coefficient:
Figure BDA0003879781090000028
Figure BDA0003879781090000031
Figure BDA0003879781090000032
Figure BDA0003879781090000033
Figure BDA0003879781090000034
Figure BDA0003879781090000035
Figure BDA0003879781090000036
wherein L, B and H are the main shaft size of the underwater vehicle, lambda is the aspect ratio of each appendage, mu (lambda) is a corrected value of the finite span, and K ij (ij =11,22,33,55,66) is an additional mass coefficient, x ap The coordinate value of the hydrodynamic center of each appendage area to the origin;
2) Coefficient of velocity
Figure BDA0003879781090000037
Figure BDA0003879781090000038
Figure BDA0003879781090000039
Figure BDA00038797810900000310
Wherein epsilon is an interference coefficient,
Figure BDA00038797810900000311
in order to be the derivative of the lift force,
Figure BDA00038797810900000312
is the derivative of moment, α ∞ K is a thickness correction coefficient;
3) Coefficient of angular velocity
Figure BDA00038797810900000313
Figure BDA0003879781090000041
Figure BDA0003879781090000042
Figure BDA0003879781090000043
Wherein the content of the first and second substances,
Figure BDA0003879781090000044
in order to be the derivative of the lift force,
Figure BDA0003879781090000045
is the moment derivative;
4) Coefficient of rudder angle
Figure BDA0003879781090000046
Figure BDA0003879781090000047
Wherein, B p Is the load factor of the propeller, K T Is the thrust coefficient of the propeller, J is the advance ratio of the propeller, n, D, w are the spirals respectivelyThe speed of rotation, diameter and wake factor of the paddle.
Has the advantages that:
1. the method for calculating the hydrodynamic coefficient of the unmanned underwater vehicle is based on the kinematics model of the unmanned underwater vehicle and actual boat navigation test data, utilizes theoretical estimation and parameter identification methods, and saves a large amount of test cost and time cost consumed in the process of the ship model restraint test by adopting free navigation test data compared with the ship model restraint test method, thereby being more economical.
2. Compared with a hydrodynamic force simulation calculation method, the method is based on actual test data, and the real navigation environment of the test field is more accurate than the effect of computer simulation.
3. In the third step of the method, the hydrodynamic coefficient is preliminarily determined by adopting an approximate formula estimation method, and the hydrodynamic coefficient comprises an acceleration coefficient, a velocity coefficient, an angular velocity coefficient and a rudder angle coefficient, so that the preliminary estimation of the hydrodynamic coefficient of the unmanned underwater vehicle can be realized.
Drawings
FIG. 1 is a flow chart of a method for calculating a hydrodynamic coefficient of an unmanned underwater vehicle according to the invention;
FIG. 2 is a schematic diagram of kinematic parameters of an underwater unmanned underwater vehicle;
FIG. 3 is a gray box model identification fitting curve.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a calculation method of a hydrodynamic coefficient of an unmanned underwater vehicle, which comprises the following calculation steps:
the method comprises the following steps: establishing an unmanned underwater vehicle kinematics model;
and performing hydrodynamic coefficient calculation by taking a certain underwater unmanned underwater vehicle as a research object, and calculating and inputting the calculated and input data into the test data of the horizontal plane maneuvering motion of the unmanned underwater vehicle under the small rudder angle. Neglecting the second order and the above terms in the hydrodynamic Taylor expansion, only keeping the linear terms, and not considering the motion of the rolling surface, establishing the kinematic model of the unmanned underwater vehicle:
Figure BDA0003879781090000051
wherein the heading speed U is 1m/s; v, r, psi and y are the lateral speed, yaw rate, yaw angle and lateral offset of the unmanned underwater vehicle respectively, as shown in the attached figure 2; delta. For the preparation of a coating r Is a rudder deflection angle; m is mass; i is z Is the yaw moment of inertia.
Step two: establishing an idnlgrey object;
defining the state quantity X = [ v, r, psi, y] T Control quantity u = δ r And the output Y = X.
The unmanned underwater vehicle kinematic model is returned to the output and state derivatives in the form of idnlgrey objects as a function of time, input, state and parameter values.
Figure BDA0003879781090000052
Step three: estimating the hydrodynamic force coefficient of the unmanned underwater vehicle as an initial value in the subsequent step five;
the unmanned underwater vehicle approximately estimates the required parameters: underwater full drainage volume
Figure BDA0003879781090000054
The length L of the aircraft, the height B and the width H of the aircraft, the projection area s of each appendage, the spread length L, the chord length B, the ordinate x from the area center to the origin (gravity center) of the dynamic coordinate system and the aspect ratio lambda are shown in the following table:
Figure BDA0003879781090000053
Figure BDA0003879781090000061
1) Acceleration coefficient:
Figure BDA0003879781090000062
Figure BDA0003879781090000063
Figure BDA0003879781090000064
Figure BDA0003879781090000065
Figure BDA0003879781090000066
Figure BDA0003879781090000067
Figure BDA0003879781090000068
2) Speed coefficient:
taking the interference coefficient epsilon 1 ＝ε 2 =1, is prepared from
Figure BDA0003879781090000069
And (4) looking up a table to obtain:
Figure BDA00038797810900000610
Figure BDA00038797810900000611
Figure BDA00038797810900000612
Figure BDA00038797810900000613
Figure BDA00038797810900000614
Figure BDA00038797810900000615
3) Angular velocity coefficient:
taking the floating center position as a correction coefficient 1 and an interference coefficient epsilon 5 ＝ε 6 =1, is prepared from
Figure BDA00038797810900000616
B/H =1, table lookup yields:
Figure BDA00038797810900000617
Figure BDA0003879781090000071
Figure BDA0003879781090000072
Figure BDA0003879781090000073
Figure BDA0003879781090000074
4) Rudder angle derivative:
taking the interference coefficient epsilon 3 ＝ε 4 ＝1
Figure BDA0003879781090000075
Figure BDA0003879781090000076
Figure BDA0003879781090000077
Step four: processing and importing navigation test data of the unmanned underwater vehicle;
acquiring navigation test data of the unmanned underwater vehicle, and selecting transverse velocity v, yaw rate r, yaw angle psi, lateral offset y and rudder deflection angle delta r Carrying out data preprocessing, wherein the preprocessing comprises the following steps: exporting data stored inside the underwater vehicle; the stored data (16-system original data) is decoded and converted into readable data, and the readable data is imported into a working space in the form of iddata objects, namely, the data is converted into a form which can be processed by software.
Step five: identifying a gray box model;
setting continuous simulation time t =0.2s, substituting the unmanned underwater vehicle test data and the initial value in the fourth step into the idnlgrey object in the second step for gray box model identification, and dimensionless transforming the result:
Y v ＝-0.0112,Y r ＝0.00662,N v ＝-0.00723,N r ＝-0.00109,N d ＝-0.00353。
step six: and carrying out multiple iterative computations.
And if the calculation result of the hydrodynamic coefficient obtained in the fifth step meets the precision requirement, taking the calculation result as a final calculation result, otherwise, taking the calculation result of the fifth step as a next initial value, repeating the fourth to sixth steps until the simulation curve fitting result meets the requirement (the fitting error is not more than 15%), and obtaining a simulation result interface shown in the attached figure 3.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A method for calculating the hydrodynamic coefficient of an unmanned underwater vehicle is characterized by comprising the following calculation steps:
the method comprises the following steps: establishing a kinematics model of the unmanned underwater vehicle;
step two: establishing an idnlgrey object;
step three: estimating the hydrodynamic force coefficient of the unmanned underwater vehicle as an initial value in the fifth subsequent step;
step four: processing and importing navigation test data of the unmanned underwater vehicle;
step five: substituting the unmanned underwater vehicle test data and the initial value in the step four into the idnlgrey object in the step two to carry out ash box model identification;
step six: and if the calculation result of the hydrodynamic coefficient obtained in the step five meets the precision requirement, taking the calculation result as a final calculation result, otherwise, taking the calculation result of the step five as a next initial value, and repeating the steps from four to six.
2. The method for calculating the hydrodynamic coefficient of the unmanned underwater vehicle as claimed in claim 1, wherein the expression of the horizontal maneuvering motion of the unmanned underwater vehicle in the first step is as follows:
Figure FDA0003879781080000011
the expression of the vertical plane maneuvering motion of the unmanned underwater vehicle is as follows:
Figure FDA0003879781080000012
wherein u, v, w, P, q and r are the speed and angular speed of the underwater vehicle in the directions of x, y and z; delta is a rudder angle coefficient, and theta is an Euler angle;
Figure FDA0003879781080000013
X vv 、X rr 、X vr 、
Figure FDA0003879781080000014
Y r 、Y v|v| 、Y r|r| 、Y v|r| 、
Figure FDA0003879781080000015
N v|v| 、N |v|r 、N r|r| 、
Figure FDA0003879781080000018
Z w 、Z w|w| 、Z w|q| 、
Figure FDA0003879781080000017
M w 、M |w| 、M w|q| 、M w|w| the value of the partial derivative of the hydrodynamic component on the motion parameter of the underwater vehicle at the expansion point is referred to as a hydrodynamic coefficient;
and establishing an unmanned underwater vehicle kinematic model by referring to the typical space manipulation motion expression of the unmanned underwater vehicle according to the motion state of the unmanned underwater vehicle and the calculation requirement of the hydrodynamic coefficient.
3. The hydrodynamic coefficient calculation method of the unmanned underwater vehicle as claimed in claim 1, wherein the second step of establishing the idnlgrey object comprises the following steps: defining a state quantity X, a control quantity u and an output Y = X;
the unmanned submersible kinematic model is returned to the output/state derivatives as a function of time, input, state and parameter values in the form of an idnlgrey object.
4. The method according to claim 1, wherein the hydrodynamic coefficients of the unmanned underwater vehicle are preliminarily determined in the third step by using an approximate formula estimation method, and the hydrodynamic coefficients comprise an acceleration coefficient, a velocity coefficient, an angular velocity coefficient and a rudder angle coefficient, and the hydrodynamic coefficients of the unmanned underwater vehicle are preliminarily estimated according to an empirical formula and a query map.
5. The method for calculating the hydrodynamic coefficients of the unmanned underwater vehicle according to claim 3 or 4, wherein the acceleration coefficient, the velocity coefficient, the angular velocity coefficient and the rudder angle coefficient are calculated according to the following formula:
1) Acceleration coefficient:
Figure FDA0003879781080000021
Figure FDA0003879781080000022
Figure FDA0003879781080000023
Figure FDA0003879781080000024
Figure FDA0003879781080000025
Figure FDA0003879781080000026
Figure FDA0003879781080000027
wherein L, B and H are the main shaft dimensions of the underwater vehicle, lambda is the aspect ratio of each appendage, mu (lambda) is the corrected value of the limited wingspan, and K ij (ij =11,22,33,55, 66) is an additional mass coefficient, x ap The coordinate value of the hydrodynamic center of each appendage area to the origin;
2) Coefficient of velocity
Figure FDA0003879781080000028
Figure FDA0003879781080000029
Figure FDA00038797810800000210
Figure FDA00038797810800000211
Wherein epsilon is an interference coefficient,
Figure FDA0003879781080000031
in order to be the derivative of the lift force,
Figure FDA0003879781080000032
as derivative of moment, α ∞ K is a lift force correction derivative coefficient;
3) Coefficient of angular velocity
Figure FDA0003879781080000033
Figure FDA0003879781080000034
Figure FDA0003879781080000035
Figure FDA0003879781080000036
Wherein the content of the first and second substances,
Figure FDA0003879781080000037
in order to be the derivative of the lift force,
Figure FDA0003879781080000038
is the moment derivative;
4) Coefficient of rudder angle
Figure FDA0003879781080000039
Figure FDA00038797810800000310
Wherein, B p Is the load factor of the propeller, K T The coefficient of thrust of the propeller, J the advance ratio of the propeller, and n, D and w the rotation speed, diameter and wake coefficient of the propeller.
CN202211226040.9A 2022-10-09 2022-10-09 Unmanned underwater vehicle hydrodynamic coefficient calculation method Pending CN115688383A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117311191A (en) * 2023-10-27 2023-12-29 潜行创新(成都)机器人科技有限公司 Unmanned remote control submersible scene simulation system and method thereof
CN117709000A (en) * 2024-02-06 2024-03-15 清华大学 Unmanned underwater vehicle simulation method, unmanned underwater vehicle simulation device, computer equipment and medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117311191A (en) * 2023-10-27 2023-12-29 潜行创新(成都)机器人科技有限公司 Unmanned remote control submersible scene simulation system and method thereof
CN117709000A (en) * 2024-02-06 2024-03-15 清华大学 Unmanned underwater vehicle simulation method, unmanned underwater vehicle simulation device, computer equipment and medium
CN117709000B (en) * 2024-02-06 2024-05-28 清华大学 Unmanned underwater vehicle simulation method, unmanned underwater vehicle simulation device, computer equipment and medium

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