拖曳系统拖曳动态过程仿真分析

对于海洋缆索系统,论文针对传统有限段法的不足,提出改进的缆索有限段法,缆索离散为若干弹性缆段组成的多柔体系统,根据缆索的特点选择适当的参考系和广义速率,引入有限元法中的形函数描述段内各点位移,根据Kane方程推导改进缆索有限段模型的运动方程。基于改进的缆索有限段法,提出了模拟拖曳缆索释放一回收过程的变拓扑结构模型,即用可变长度缆段长度的变化和缆段数量的改变建模缆索的释放和回收过程。文中对一海洋拖曳系统进行了动力学仿真,与海洋试验结果比较验证了模型的正确性。     

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.     

Measurements of the wall pressure spectra on a full-scale experimental towed array

Turbulent wall pressure data acquired during tests of a full-scale experimental towed array over a range of tow speeds in straight tows and turns is presented. The experimental towed array contained a linear array of sensors mounted at the fluid–solid interface to measure the spectra of the wall pressure fluctuations due to the cylindrical turbulent boundary layer. The physics are dominated by the growth of a thick, high Reynolds number turbulent boundary layer at arc length Reynolds numbers as high as 9×10⁸. The measured wavenumber-frequency spectra, autospectra, cross-spectral decay and convection velocities are presented. A well-defined convective ridge exists in the wavenumber-frequency spectra obtained during straight tows and turns. Turns give rise to a complicated fluid–structure interaction problem, but do not lead to the separation of the turbulent boundary layer. As the array moves through a turn, flow-induced vibrations of the array are shown to dominate the spectra at low frequencies, with more rapid decay in the measured coherence occurring at higher frequencies. The use of tow speed as a velocity scale is shown to collapse autospectra and convection velocities.     

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.     

A hydrodynamic model of a two-part underwater towed system

A three-dimensional model of a two-part underwater towed system is studied. In the model, the governing equations of cables are established based on the Ablow and Schechter method. The boundary conditions for the two-part underwater towed system are derived. The six-degrees-of-freedom equations of motion for submarine simulations are adopted to predict the hydrodynamic performance of a towed vehicle. The established governing equations for the system are then solved using a central finite difference method. In this paper several algorithms are used to solve this special form of finite difference equations. The results in this paper indicate that the two-part underwater towed system improves the dynamic behavior of the towed vehicle and is an easy way to decouple the towing ship motion from the towed vehicle. Because the model uses an implicit time integration, it is stable for large time steps and is an effective algorithm for simulation of a large-scale underwater towed system.     

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。     

Transient behavior of towed cable systems during ship turning maneuvers

The dynamic behavior of a towed cable system that results from the tow ship changing course from a straight-tow trajectory to one involving steady circular turning at a constant radius is examined. For large-radius ship turns, the vehicle trajectory and vehicle depth assumed, monotonically and exponentially, the large-radius steady-state turning solution of Chapman [Chapman, D.A., 1984. The towed cable behavior during ship turning manoeuvers. Ocean Engineering 11, 327–361]. For small-radius ship turns, the vehicle trajectory initially followed a corkscrew pattern with the vehicle depth oscillating about and eventually decaying to the steady-state turning solution of Chapman (1984). The change between monotonic and oscillatory behavior in the time history of the vehicle depth was well defined and offered an alternate measure to Chapman's (1984) critical radius for the transition point between large-radius and small-radius behavior. For steady circular turning in the presence of current, there was no longer a steady-state turning solution. Instead, the vehicle depth oscillated with amplitude that was a function of the ship-turning radius and the ship speed. The dynamics of a single 360° turn and a 180° U-turn are discussed in terms of the transients of the steady turning maneuver. For a single 360° large-radius ship turn, the behavior was marked by the vehicle dropping to the steady-state turning depth predicted by Chapman (1984) and then rising back to the initial, straight-tow equilibrium depth once the turn was completed. For small ship-turning radius, the vehicle dropped to a depth corresponding to the first trough of the oscillatory time series of the steady turning maneuver before returning to the straight-tow equilibrium depth once the turn was completed. For some ship-turning radii, this resulted in a maximum vehicle depth that was greater than the steady-state turning depth. For a 180° turn and ship-turning radius less than the length of the tow cable, the vehicle never reached the steady-state turning depth.     

水下拖曳系统运动姿态仿真研究

采用凝集参数法建立了水下拖曳系统的三维离散模型,该模型由一系列的质量点和不计重量的弹簧组成.采用数学模型编程对NCEL浮球实验和四个典型拖曳系统进行了仿真计算.计算结果表明此数学模型具有一定的理论意义和工程实用价值.     

Nonlinear adaptive control of an underwater towed vehicle

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.     

波浪作用下缆船拖带系统非线性运动数值模拟

基于船舶操纵性运动方程和拖缆的三维动力学运动方程,提出了被拖点位置匹配的方法,建立了拖船—拖缆—被拖船系统整体非线性拖带动力学模型。为了考察被拖船航向稳定性与横向稳性的关系以及波浪载荷作用的影响,被拖船采用水平面四自由度运动方程,并引入了波浪的作用力和力矩。拖船采用PD控制方法较真实地模拟了拖船航向改变的运动过程。对一个拖船—拖缆—被拖船系统(5 000 t的拖船和3 000 t的被拖船)在时域内进行了规则波浪作用下拖带运动的模拟,计算结果表明被拖带船舶在波浪中运动呈现运动稳定、不稳定和临界状态3种可能的特性。根据模拟计算结果,认为波浪中拖带航向稳定是被拖带船舶保持稳性的必要条件。     

Time-domain numerical simulation of ocean cable structures

This paper describes the numerical features of WHOI Cable, a computer program for analyzing the statics and dynamics of oceanographic cable structures. The governing equations include the effects of geometric and material nonlinearities, bending stiffness for seamless modeling of slack cables, and a model for the interaction of cable segments with the sea floor. The program uses the generalized-α time integration algorithm, adaptive time stepping, and adaptive spatial gridding to produce accurate, stable solutions for dynamic problems. The nonlinear solver uses adaptive relaxation to improve robustness for both static and dynamic problems. The program solves surface and subsurface single-point mooring problems, multi-leg and branched array systems, and towing and drifting problems. User specified forcing can include waves, currents, wind, and ship speed.     

Experimental investigation on a two-part underwater towed system

An experimental set-up is developed and proved to be effective for laboratory study of an underwater towed system. The experimental technique gives a practical method for monitoring the kinematic and dynamic performance of an underwater towed system in a ship towing tank. Both the theoretical and experimental results in the investigation indicate that the hydrodynamic response of a towed vehicle to the wave induced motion of a towing ship can be significantly reduced by applying a two-part tow method. A comparison of the numerical and experimental results in the investigation demonstrates that the numerical simulation results are close to the experimental data, overall agreement between experimental and theoretical results is satisfactory. The results qualitatively verify the mathematical model of a two-part underwater towed system proposed by Wu and Chwang [Wu, J., Chwang, A.T., 2000. A hydrodynamic model of a two-part underwater towed system. Ocean Engineering 27 (5), 455–472].     

A three-dimensional dynamic analysis of a towed system

The three-dimensional configuration of a towed cable-body system during prescribed towship maneuvers is determined. Bending resistance and inertia terms are not retained in the towing model; methods are described for ascertaining when these effects are negligible. A physical finite difference formulation is employed to develop the discretized equations of motion, and the system configuration is advanced in time using a Runge-Kutta recurrence algorithm. The response of a reference towed system to a typical maneuver is presented graphically.     

基于LabVIEW的波浪驱动测量系统仿真设计

提出了一种通过虚拟仪器软件LabVIEW对水下测量系统进行仿真的方法,通过受力分析,可以近似地模拟出波浪驱动测量系统在水中的工作状态,为系统合理地布放提供有效的搭配方案。     

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.     

拖曳线列阵振荡幅值响应特性

通过欧拉角的变换把拖曳线列阵微元段矢量动力平衡方程在局部坐标系下展开，在时间和空间上作中心差分数值离散平衡方程。将尾绳阻力作为线列阵尾端点的张力，改善因尾端张力为零引起的差分方程奇异性。取有关文献资料中的两个拖曳线列阵进行了拖点振荡响应计算，计算结果与相应文献资料中线性理论的计算和试验结果基本吻合。最后由仿真计算讨论了拖曳线列阵参数变化对拖点垂向和横向的谐振稳态响应特性。计算结果表明影响拖曳线列阵振荡响应的主要参数是由拖缆长度、拖点航速和拖点振荡因频率构成的无因次振荡频率。     

Phosphorus and nitrogen cyclings in the pelagic system of hiroshima bay: Results of numerical model simulation

A numerical ecosystem model expressing both phosphorus and nitrogen cyclings in the pelagic system of Hiroshima Bay, Japan, was developed in order to investigate the seasonal variations of these elements and their annual budgets. Based on the geophysical and chemical structures of the bay, Hiroshima Bay was divided into northern and southern boxes, themselves divided into two layers of an upper 5 m and a lower layer according to the stratification of the water column. The model consists of equations representing all relevant physical and biological processes. The results revealed that the internal regeneration of materials was an important source of bioavailable nutrients for phytoplankton growth in the water column. The incorporation of phytoplankton aggregation improved the accuracy of the outputs in comparison to the observed data, especially during the stratified summer season. The results also indicated that phosphorus limitation of phytoplankton growth occurs in the upper layer during summer while light limitation occurs in the lower layer. In addition, physical processes such as diffusion and advection were also important as they ensured that most of regenerated nutrients in the lower layer were transported to the upper layer. Thus, these processes might support the high primary production and the production of oysters that are extensively cultured in this bay. Considering the informative results obtained, the model used in this study provides a sound basis and tool to describe the dynamics of phosphorus and nitrogen cyclings in Hiroshima Bay.     

A computerized system for assessing towed array sonar functionalityand detecting faults

A computer-based system that processes hydrophone and beam noise data from a towed horizontal line array sonar has been developed. The system also produces various displays that can be used to help assess the functionality of the sonar and to identify faults that cause degraded performance. The system-and various statistics used for characterizing or quantifying a given aspect of the sonar's performance are discussed. The results are presented in visual formats to aid in rapid assessment and quantification of the sonar's performance. Examples obtained from the system during recent towed array ambient noise measurement exercises are given to illustrate its utility for real-time performance monitoring and its capability for providing clues to aid in fault localization