海洋磁力仪拖体入水深度试验与分析

拖体入水深度是水下拖曳作业的主要参数,其取决于拖体自身重量、拖缆长度和船速。通过G882TVG海洋磁力仪阵列的拖曳试验,分析了船速、配重、拖缆长度的相互关系,导出拖体入水深度计算模型,对类似设备的拖曳参数确定具有借鉴意义。     

水下拖曳升沉补偿系统水动力数学模型研究

建立变缆长的水下拖曳升沉补偿系统水动力学偏微分方程组和边界条件.拖缆动力学模型基于Ablow and Schechter模型,拖体采用水下运载体六自由度方程模拟,运用有限差分法离散偏微分方程组和牛顿迭代法计算变缆长情况下拖体深度与拖缆各点张力的动态取值.数值计算结果表明采用收放拖缆的升沉补偿方法能够有效削弱母船升沉运动对拖体深度和拖缆张力的影响.     

拖曳系统计算中拖缆与拖体的耦合计算

针对带有水下设备舱的拖曳系统,提出了一种有效的算法,来获得拖曳系统的运行状态。将拖曳系统分成拖缆和水下拖体两个部分,分别建立运动数学模型。拖缆部分的模型以Ablow和Schechter的运动数学模型为基础;拖体部分的模型采用类似潜器的水下六自由度运动方程。将这两部分方程联立,统一求解,解决两个模型之间的耦合问题。经过数值仿真的检验证明算法具有可行性。     

水下拖曳航行器水动力和拖缆姿态仿真分析

水下拖曳航行器是被广泛应用的水下监测平台。为掌握水下拖曳航行器的水动力及其拖揽姿态,文章通过CFD仿真分析计算其零攻角下的阻力系数,并通过多刚体-球铰模型建立其运动数学模型,分析不同航速下拖曳系统的总拉力、拖缆长度和航行器位置等的参数变化。研究结果表明：随着船舶航速的变化,拖曳系统各项参数变化的差别很大;在200 m深度时,6 kn航速相比4 kn航速的总拉力增加73%,而所需的拖缆长度仅增加1%。该数学模型可对不同航速下的水下拖曳系统的总拉力和拖缆姿态等做出预测,为拖曳系统设计提供技术支撑。     

海洋调查中水下目标位置的确定

介绍了海洋调查中测量设备拖曳体(拖鱼)的三种定位方法：舷挂式、LAYBACK方式和超短基线方式;分析了不同定位方法确定水下目标位置的差异,并进行了精度估计。     

两种水下定位方式的误差对比与分析

利用在富钴结壳海山实测的2条海底摄像测线资料,通过超短基线水下定位数据和LAYBACK方式定位校正结果的分析与对比,结果表明,通过超短基线定位系统的同步测量,可实现对海底摄像拖体的高精度水下定位,而通过LAYBACK校正方式得到的拖体定位数据误差变化范围很大。LAYBACK校正误差受航速和拖缆长度变化的影响程度较小,而受母船航向变化的影响程度要大得多,因此,当利用LAYBACK方法进行水下定位校正的时候,尤其需要注意船向变化对定位精度的影响。     

拖体定位中的海洋动态环境效应补偿

为提高海洋拖曳作业中拖体的定位精度,分析了海洋动态环境对拖体定位的影响,给出了两个主要海洋动态环境要素即海流和航速对拖体定位的补偿模型,对海洋磁力测量、侧扫声纳探测有重大应用价值。     

海洋地震勘探拖曳系统动态运动分析及控制算法优化探讨

准确地描述和预报拖曳系统的性能及运动规律是海洋地震勘探拖曳系统设计与应用的前提条件,文章在多年研究水下拖曳系统及拖缆定深器的基础上,对海洋勘探拖曳系统进行详细的分析,并针对自行研制的某型拖缆定深器进行仿真计算,最后提出一些在工程实践中比较有用的结论,可为地震勘探拖曳系统设计提供参考.     

水下非均匀拖缆稳态动力学分析

水下拖缆物理参数不均匀会影响拖缆的动力特性,研究非均匀拖缆的参数变化对拖缆动力特性的影响有一定的工程实际意义。建立了拖曳系统运动的三维数学模型,推导出了水下非均匀拖缆的稳态运动控制方程,在首尾两端加上相应的定解条件,直接求得或使用嵌套二分法求得非均匀拖缆在端点的初始值,进而求解稳态动力学方程。借助文献中的拖缆—海底拖车系统算例,通过计算结果的对比,验证了数学模型及计算方法的正确性。通过四阶龙格库塔法进行数值仿真计算,得到了稳态解,分析了非均匀拖缆自身物理参数变化对缆绳系统稳态运动的影响。结果表明,非均匀拖缆的切向阻力系数、法向阻力系数、直径和密度变化会影响稳态缆形和张力分布,影响的程度各不相同。最后给出了两个尾拖船系统非均匀拖缆的稳态运动算例。     

减弱船磁效应对海洋地磁测量精度影响的方法研究

船磁效应一直是影响海洋地磁测量精度的一个重要因素。传统船磁模型只取磁方位角为变量,改正后测线数据存在系统差和船磁影响的起伏变化,给不断累积的地磁数据拼接带来困难。磁正西北和北东方向的测线网受船的感应磁性变化的影响最小,东西向测线之间船磁影响差异最小,而磁南北向测线之间正好相反,据此可从测线布设方案着手减弱船磁效应影响。完备的船磁模型可以兼顾考虑测线航向、地磁总场、磁倾角和拖缆长度的变化,通过不同拖缆长度的主、副测线网交点差平差或三点各两种不同拖缆长度的方位测量,实现地磁异常分离和完备船磁效应的改正。实例说明固定船磁,甚至负的垂直分量,会使船磁效应随纬度出现可观变化,需要完备船磁模型的解算和改正才能解决这个问题。     

Dynamic modeling of cable towed body using nodal position finite element method

This paper analyses nonlinear dynamics of cable towed body system. The cable has been modeled and analyzed using a new nodal position finite element method, which calculates the position of the cable directly instead of the displacement by the existing finite element method. The newly derived nodal position finite element method eliminates the need of decoupling the rigid body motion from the total motion, where numerical errors arise in the existing nonlinear finite element method, and the limitation of small rotation in each time step in the existing nonlinear finite element method. The towed body is modeled as a rigid body with six degrees of freedom while the tow ship motion is treated as a moving boundary to the system. A special procedure has been developed to couple the cable element with the towed body. The current approach can be used as design tool for achieving improved directional stability, maneuverability, safety and control characteristics with the cable towed body. The analysis results show the elegance and robustness of the proposed approach by comparing with the sea trial data.     

Investigation on a two-part underwater manoeuvrable towed system

A hydrodynamic model of a two-part underwater manoeuvrable towed system is proposed in which a depressor is equipped with active horizontal and vertical control surfaces, and a towed vehicle is attached to the lower end of a primary cable. In such a system the towed vehicle can be manoeuvred in both vertical and horizontal planes when it is towed at a certain velocity and the coupling effect of excitations at the upper end of the primary cable and disturbances of control manipulations to the towed vehicle can be reduced. In the model the hydrodynamic behavior of an underwater vehicle is described by the six-degrees-of-freedom equations of motion for submarine simulations. The added masses of an underwater vehicle are obtained from the three-dimensional potential theory. The control surface forces of the vehicle are determined by the wing theory. The results indicate that with relative simple control measures a two-part underwater manoeuvrable towed system enables the towed vehicle to travel in a wide range with a stable attitude. The method in this model gives an effective numerical approach for determining hydrodynamic characteristics of an underwater vehicle especially when little or no experimental data are available or when costs prohibit doing experiments for determining these data.     

主动式声纳列阵拖曳系统姿态数值计算

主动式声纳列阵拖曳系统是用于探测潜艇的新型声纳系统，为了准确探测潜艇的位置，必须首先预报声纳列阵的瓷态，本文通过对其三维力学模型的分析，得到该系统的运动微分方程，其中缆索的力学方程是基于Ablow和Milinazzo的模型，而对于拖体则运用六自由度空间运动方程模拟，结合边界条件，用有限差分法求解，通过对拖船的不同运动状态如匀速，变速和回转的计算，证明本文的方法对于预报声纳列阵的姿态是有效的。     

An underwater towed electromagnetic source for geophysical exploration

Low-frequency electromagnetic methods are used in geophysical exploration to detect the magnetic field distortion between a transmitter and receiver produced by locally conductive bodies. Both ground and airborne systems are in current use. It is possible to similarly conduct underwater geophysical exploration by using an underwater towed source of electromagnetic radiation and a receiving magnetic or electric field detector. The receiver can be towed on an auxiliary cable, mounted on a boom on the towing platform, or land based. An underwater towed electromagnetic source suitable for ocean-bottom exploration has been constructed, and its underwater propagation characteristics at low frequency have been studied. This underwater calibrated source (UCS) is 4 m long, weighs 383 kg in air, and can produce vertical and horizontal magnetic dipoles and a horizontal electric dipole. Powered by a current-feedback-controlled, high-power, modified sonar amplifier, the UCS can produce 9710 ampereturn.m2 of magnetic dipole or 200 A.m of electric dipole at 50 A at frequencies up to 200 Hz without significant attenuation from coil inductance. This paper concentrates on the mechanical, hydrodynamic, and magnetic design details of the UCS and the electrical system, consisting of the high-current drive power system and the shipboard monitoring system for attitude and depth detectors.     

Study mobile underwater positioning system with expendable and multi-functional bathythermographs

The purpose of the current study is to introduce a set of mobile underwater positioning systems (MUPS) that will enable non-offshore vessels to execute underwater missions. Besides mobility, the system would also possess the advantage of having to use fewer acoustic instruments than conventional acoustic positioning systems. The method adopted by the system will involve the use of expendable and multi-functional bathythermographs (XBT) to measure the underwater acoustic speed and the depth of water at the same time. Then it must utilize the geometric relations formed by measuring the position of underwater targets at set intervals during navigation. In addition, since sound does not travel in a straight line when underwater, the iteration and convergence method must be used to perform corrections on the transmission speed and positional errors to obtain an accurate coordinate of the underwater target. After simulation testing, the positioning system established by the current study has proven to be fast in converging the error values along with high positioning accuracy of the system. The results of the study indicate that the MUPS built by the research institute can be utilized on a vessel, and will be very helpful in assisting the management of urgent underwater positioning missions.     

500m深度拖曳系统的设计与试验

针对500 m波浪式拖曳系统的技术要求,介绍了拖体、流线型拖缆、电控绞车和总控程序4个关键部分的设计;根据海上的试验情况,分析了拖体的缆深比和定深拖曳等数据,表明本系统达到预期要求,可以为上层海洋学的调查与观测提供良好的平台。     

A tension measurement method of a towing cable or a buoy cable

An indirect tension measurement method of a towing cable in midwater or a buoy cable is proposed using underwater acoustic positioning systems, etc., to give the in-water cable tension. The most simple and traditional cable tension measurement method is to apply a mechanical tension meter at the one end of the cable, but the method has limits in the aspects of continuous monitoring and manual operation. However, the technique in this study is to apply the Pode's analysis of the equilibrium configuration and tension of a flexible twine, in which the cable tension is given as a function of the geometric positions of both ends of the cable. A set of nonlinear integral equations is formulated and solved numerically by the Newton-Raphson method. Then the inclination angles and the tensions at the lower and the upper ends of the cable could be obtained. The derived method enables us to track a towed object, to measure the tension of a towing cable or a buoy cable and is also applicable to the remotely operated vehicle (ROV) tethered to a mother ship.     

水下运载体定位理论模型及拖曳参数分析

通过分析连接水下运载体和信号浮标的缆绳的水下形态,提出一种将浮标的位置向水下延伸进行定位的方法。本方法比声学GPS定位系统更具经济性。并对拖曳系统某些参数进行了分析,得出了有益的结论。     

基于单水声信标距离量测的匹配定位方法

水声通信和测距能力是实现水下航行器准确定位的重要技术手段。当前基于水声定位的方法主要有利用测距和测向功能的水声定位技术以及水声测距辅助导航技术,二者的系统物理复杂度都比较高。本文提出了一种基于单水声信标距离量测的匹配定位方法,航行器在水声信标测距覆盖范围内,利用航行过程中多次测距信息构建测距圆序列形成位置约束,基于航位推算导航信息,将航行器在连续测距时间段内的相对航迹在圆序列上进行最优匹配,从而获得位置估计,通过对测距误差进行补偿可进一步提升定位精度。本方法所需物理系统结构复杂度低、可操作性强,仿真实验表明,该方法可以独立实现较高精度的定位。